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> endobj 3295 0 obj<> endobj 3296 0 obj<> endobj 3297 0 obj<> endobj 3298 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3299 0 obj<>stream +$aeK:$iw"+1eC YPj2k'ޡSCa3՘)')1X: J$?VLx|yh̅p1O_\=ʳ}ҐA" +G$D!WcwBu݊XM1nYNUnz±|m<݁|>sj6`8lr84cJUE.BA$mlA<&>>LP(u-xJlᷖL/_{^H.UȲ$>mATf8 t00tJبRm붩8Lv$ξ\zuGo\zv]ґ +VƇ8nII-zNJlm&9LiH++~lgXe +KywW +Kf`t|簩'A LD3tSzk[SkݏƂGXAg֫o^zKtbu)99~܄d|Kz;N"`\ +NQv.QRʲRB&ƋX~XĢyw0U6TlN?A;(kn8Ts'zU>ey9j`0"gNٸ +zJxd> endobj 3301 0 obj<> endobj 3302 0 obj<> endobj 3303 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3304 0 obj<>stream +#=Kb.]Kt:_Im&2uNPQOaOª^!śkqC8(FI:֖Alij.ЅKv#^$9U67؈P^O`л_ +=1-+~S%ab.{$e2/y0XeK%K`e"=99sxD2FK2wiWWLĩ%-ʴot}=}e^ߎCw&~ &DsT Gp\V ]q2WF?/))"SULx ^iH/(ڄpD"I&>ndN;6?ma}b2LWi=ߝ)IVjM}'fD OtY53ك;Zo#d8K~C :Gy>\fG.5*S(2t\Sf胤Eƪilg0ޟ&H'HHp&ZTy)3d.!>&^%u0Igmi+OblMe$؎}C~TRŜt3T-xD|Q$Y¹En8udCɮ[ckҴ,&"bwRab(E# Jk3]g\0zǀMpF?&㬿iߌ%OtW=ˉm%Ȕ WN,5x]LMܼLA+{%H١=ݸvwq uFGÞ +endstream endobj 3305 0 obj<> endobj 3306 0 obj<> endobj 3307 0 obj<> endobj 3308 0 obj<> endobj 3309 0 obj<> endobj 3310 0 obj<> endobj 3311 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3312 0 obj<>stream +;})iƥVNnfDTe~>Kmx9ob*H0R {}$f`⍍ʗB!;=a$WFk R>c`P:?ݑ7.Kf"K*S94.tpQmkYif[KA"2 1, n("th̩>'5_dnVoA=]mH'B&@zYoG4Oa$h}}uDOpzkH[γ]. +~y5OįWM\ tWO4PGtٛ>9 eOϒG% &"6[(Wk R#+N ; x@(W#]ۮcNgu ktỈJ7u jsIQ*ӯoj6{\O86fxߺmyIi6zC! 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Zbڰha&`HSl̈Q(hh`hnla 6,5v?N@ kZok8f-ԿWr_8Mp/Fqک͒S)0ב*H5~BN^ F]~dMp'>wՎD߃iڧP"%R@/3h;3/K&h"]2_2k>j.#(=,\kOp{_IJ eO;va-Bo8p~s}&hi+n&?> endobj 3742 0 obj<> endobj 3743 0 obj<> endobj 3744 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3745 0 obj<>stream +=/T$|T-abj4i{vdAJfK&SRh(0f„4븥MyTbM%蜴,m="hq?V,4eIĎneu;l$]Zwn{7[P' $Gx!`\2jU[0fÏilD֦J;e7j8e]獮V_2~?c&%WI3'j(]~̲I^#6 t}k ɭ !Rܕn-t7e0}pޒfLbrqt]@CnL# T?1Yh<,lGچ5: zZ5!`TuϥN=% mT%K1 YR`f4ZeQغ BIzl7z:kHGE6RaRzpSbd{y]O0w/6ӖԞ0Lo!(!JJ%s^{}m*lP̆JekQEP=U‰n8`c&R`}¬U_uZb۪>~e<`A/CQ@E (kWD.qKX#M&ek#NP4) 9F޹.>Unn>CިYA)| +{w0#!D=<ҘVYzC=KC֗Ms]N~w+wU4I̕H.cIV o6Ҧl^0R{(Jg3{rv !Fo@nE0;md3Mx? 48aW~?0, T.X?ތ/?4bF1Җ6Fr!#shH@A^6UBɡd *$:Uۄ;J o[}mk6YATeia;5f9Lqeg ]$hgj +endstream endobj 3746 0 obj<> endobj 3747 0 obj<> endobj 3748 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3749 0 obj<>stream +i3y/!wBO>O42x]Q#G 3>.8=@_XR6u(4Q#."Ns"xcg`ug,@*7q D=,8LCd~^gȳ\yykyL58a{#,iƦ?Q5FPDA:&'u$QI3\$4esW!lu +.ayyIҥ 8Տ pׁ(P;[73eqlduql@RZi:bu.-Uv(G5??{/¾x xevq-GTfo‹H?p̬N}%F _e ( ( + }Mnhs1UYw+7B.RXۨ.A2LΈ6t^;$)@QK~̑z5lՖѾ5-(N#rH87wpoXr+`E2_Q6-Zi'$#)-ꂬm- _0 V}nx-h&, x$T6|߬,S%ܭVO_~(B /wJObwևY{Zp;4Xy7JA9]s%jmzṀZZSPz]{xL`ogf_.<=kgBR"'Gj(WTAPzƒFdE G >[太Hjd{- |Ca!pk{m<>Yhf!qу-9] 9 l$1(˧w(J?T狳Ca.qߍ+냯R2F=RINHSޔ!' +endstream endobj 3750 0 obj<> endobj 3751 0 obj<> endobj 3752 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3753 0 obj<>stream +scL';b,mj%3x) ;R8r:!4Le˓}c!R:R{hCV+qέs] ))5p.mPxrTc/ LXxIt7&9UӌsIO o+ϛ{/jQZX +c"v+u:X0،[k '96WA88;ۋRϲXu)eƒu-bVr KP]l!sD:DH&{;CK`RB8Ll/c ]esCռSO; k; ÍԈq [G9t*N;T9Lu`%Pg`a?K:Qi:i*F0e1qqI]%qrE!yڰ 雸O ~1.Bɗa/\0$Db#B1XUuJ4xZ( BFUj GQ)_bǥ3K%&O~~cZP^L P'?Ik&+jA˟#B@fήU 2} q +$iCfx^8("J a%^:SlF0)0CT (ȋpjrfoUo +vE e_.(eIwkπo_egN8eo9$6.58UFC=clk5|û1&^*KG BeQ⢴*hn.J&jt7cYIўޢM;lZdO(0/YލO16~|)͎hf5i`s/wYnA[`{ՌR.zW;el"QJ)#dn+WӞ +endstream endobj 3754 0 obj<> endobj 3755 0 obj<> endobj 3756 0 obj<> endobj 3757 0 obj<> endobj 3758 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3759 0 obj<>stream +ZڟBb G= DCQZA8?Ӷd.;*"镊g~wGҁ[#S޽gh#k |>Etxh!<{*^,Z`nWKOYG|KS&T9 gݣLZUڽP~ +skȣ^q?{Wo/2js?Ba"BFUUuX:kNv1\.V0]f>ө4.pv*ѾېtZX82Eǟ:~M}/6rr4!B8vA ܤFڍr X>Uٶ7L\ˮ%} KJa!JZ^} +}?)d^X.ԉ|AJ{U8Sd¡0Z uGO;a81g9j{GS!zM^{NaK&Eo}rcO@QSٗa]?L\1/u|fT D#B!Y@ T魯%aܗPLQ&BV0Hʎ뢘KtD,|_+ͿnG L+ +\Y<J*/0g] + 4S[Χ6HV=CޤJa].h~'!n?)\%orG葬 Q)SJ,hR| lX0 +gfDelNio%(}uo`3>v>=DLGz<$4݌iuIkjs`[~ߧ=^ז_5rV $iZABxFՄېy5rqҥƎc\ZZFƔ0T1w'7\h+)`CʐMntvBZZh +;![l (u7}AJHW>v6LI>\w{)A$ FR݂8/ +endstream endobj 3760 0 obj<> endobj 3761 0 obj<> endobj 3762 0 obj<> endobj 3763 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3764 0 obj<>stream +/ݥ;%4']ob4\Ѯ2>QT1>/XuHs9R8׵E'i[,H[ED~k$&?hJ4vLhh=w&Lk%eZbps=ìgs~ZR&;O=c,J9"ru>/3k>aMƣ%,#kWEao5s՟ d !.h9&miAH3cR蒧Gs4W>[*!}ܚ~_bjd\E>Rp_룜\Hz;*_D0m +Axak|ɣ3sWc1=6lp39tDe.gVCkɏ)μEH ՝=O:J ryS2E- +c: ?#naɔKm7X axLQ*/=Wyڄ*rOW5t? -.'g3}լ\H7:..ٝ'_P:~$b2vAy_:3~a //B؝t[$V&H"ZO,;3 -#pb7fusFSK9QMt(i^T0`59d] (OP-r4Yzu`MCjcHz"z!EWl]-N61o/uc "\^k,u>X3N|X'17;wjsIMM˞N@ټ1Xc}̍,gjmᦄh8qkcry):D̯1ȏd%F؁"X" 3-!'݋R6slDi&ĔX)FfIï8ddŖzB0 JʕZ N*(f˯ a!( Wxv3(Q9Ad pNgu2,["hb\kAYw:?b6xgBn{T/`> endobj 3766 0 obj<> endobj 3767 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3768 0 obj<>stream +RsޯZ_k,4&RCθVI΃ d'%,E# c{ ҶD /8OBq=0#;N4[qv"a"e н(ڼ- U2ꔵ7|e=\`AR  +MjR390P_0@Č2ڞ)@4aƐeNzZ->:p~ cyE8v[ ƐOu}:qR;a=M.HG+ =7VMRQ(c4Gގ#uT&(;ǃ4]_:~XPHI@-!/^QO +B\dzي$rJ~^a@ +kBU,\hiN~Ȯ_rJ5]RJZ a)}ʪ 0FRCzҏ=T5u 6bۚ dB5P$0ՅLB|᱇øFpr:6~ kp/ X`P+[*jm[@~Go7]W 4``ƨ1$(%<ךaûdI*oGܹ +9a.o3nɟP~D^hP1]+ӕq([ ^ =~_oyă]3<{_e}yjlOڽ2N& 8*8Y1:OL*"In_w' شeՒ9a|=kak*0B+#O3GUApQ:Zâ j[&%j;d6A= 7 ރbttTe`=6uˤ>FSvYJkNrXGZj' fjl3>*ꥐ񓬤|وz*w†_e H%\6]q8DFˢ=\xW Q:X +OGy`2YIW!^pTSMYfIЁ(΂MD|y)]{$ M^HpW' 㒨C j!z2{Ot^C6*\ kKdTGcg!yE [xivH04C?v(mR}vdY{ɤ/ B*Hu~C?Uy +endstream endobj 3769 0 obj<> endobj 3770 0 obj<> endobj 3771 0 obj<> endobj 3772 0 obj<> endobj 3773 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3774 0 obj<>stream + +Zg^ ~'IGSszt@B90oqo8;jWFiyIBː96XW c.; %F y[6}A+:J= +rضhg݌B!\FJ.a\ei!s7;djuv)ʁ]?4ûEŤǤ(pnњ&\z$)Q+frwP@Dg挺 oHu[3)6H. Y RADpBڌ? { #HOA[+|"8G6a Mog4!d)֧=i UDɀ:c愤ZM8gWL!螕vy+xAŠ@Hg-QÌ+k,(P9o"c%^Ǒݘ{ekр +w镕[n @J~)n1;2òQ@3F H"E+{~z@=Z՘;tM2=@Mx3=1//M^p6P[8JQw?|oB2KU_ Q`rxS^R$$ž[9Apŗae͎.0 =3ݗU Oqy%ksƞ p)%X [>֟ +4Σq}T傓bA\4FgMИB3m v&`ǜ)L'dXZu(ݱ.Ilt!Ub(ggBٶ4w@|ۖЕ/ը܉G6u講.2R7t>0DշJ0'b^Fv,lK?Y=r_VFzVMȇ4z)YT5a)x%%H!"+T' 3, < Gz!&ӱ?a\BL +endstream endobj 3775 0 obj<> endobj 3776 0 obj<> endobj 3777 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3778 0 obj<>stream +_ođTc5o^Mfw*)('>utCyz$Uf3wSmݣ.\X2.N3>S޹||ӮHe{+sUF`LbnInDns.Tj&dyVKth6A!\Rf9;̪BF @Zפ x?-kwǿ@|3P?bS33Bo~rcqA]=5y[R1 ըIlGX@kѢbbM2]tNr,r_ȟEg9FBɋsL}I 쿨\U-cFf'`i{·#6Z41PdNȸ `#0>cd F wQMa _4b'q +wcG:¨[(kh^4, `89¢H1S EΦ> |LT^{ װm/v&!Ƥfέ]?Ql(#TQuM&)]I) ѰF}5+Vm@ z),K_1<=n?WG&x=;H1xNGt^a@j k,^5%o[MƕOF~yN +endstream endobj 3779 0 obj<> endobj 3780 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3781 0 obj<>stream +\S餛 D[Y +*JalZPBZ%㶜dQ.g͏Jq?`^pbhz4OJj3ZqY^B/2W:։ ] +x7:;{t!͟[Ob()56M|Adhx0*4.g6zL©r yFŖlLd)~_d0~s5ÆNFІ<#iq6Lh> endobj 3783 0 obj<> endobj 3784 0 obj<> endobj 3785 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3786 0 obj<>stream +bj[ݼ|SJZD]RKs#ߧs~Lz<| Q|Hǿb Roi0tІ| +NcI8y"(*x$YrOK &nèk"qI1G4sNF9a<Ȫv9GYZM?̡#q +^a\hw?6};C-o6ZP",&&8&z2(MW'H? 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#SXuh{ɨƌ.q.1~Jk ƚmpĵo*Qh,hP?J0~VՉoB-4:g|:.S$GWߙݸ 5亅 -"/A\DoBVEɲZ ວ|j(WVz\+9 Wղ.dtUJ7,2T7bQťA! +DڧySXg1|1Ol=3(vbPp9 ZPƕeKB|z5|fb"/_| +\+V @=9Ȯֻ2xέƱ-_/9ϴ3.h;rVdٽQ9mv1H.> u}A6uC__mxYFKW-Y0̕d!F7ndY@D+ˆ)YMQ؋By+$l]ZxL<9oky l_sƘk*YW4aI 4!->) Id4dd$#KWLԖ+x.w1Zz_]?awջT7Q>Nh荻u^pំ`TuW#z/+X $W} +̐vQ)޳tǽ:҈V]UFeAZ^ ^ t5 ʴle.4<5U)$qir"k;W)Es +endstream endobj 3892 0 obj<> endobj 3893 0 obj<> endobj 3894 0 obj<> endobj 3895 0 obj<> endobj 3896 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3897 0 obj<>stream +~d馣q =HSOR}6X %6 `iӸ\f) cy-xB TʁV^Q&" %{]]W IuV@ՈZn%XbT5E5${g +Fx1bUkA(@ ޏ(GYe ˫;:K'7`&o2%1%)3s P-W׼A,n(ydAeaWq6Ʉ_7KwV%0T~ɕ=lN%ch /ئYV[BXcVy͑M0֢,Ñ<'ojX^*BgI&A_D}壦ӱ7]$.\\iᦡvq||ΌrD{>CINH&J~{0D;ZOXulm8eQV>zΠ!z$g _]z~k:M6g> endobj 3899 0 obj<> endobj 3900 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3901 0 obj<>stream +5YnOJrFef5g>eU'ѕ2zrx:1: 040F3ʾfIpOF3N”4*i V=$5(i+eii:}t/0z% jԫN_4L$S~ܗg2NQ &=:m= SPID,zw~UuZD$+rğؤ5s. t>^a%GUfDDž=e-l0mCW0GȇX g'ȏGoKq}٫@w\l~wjCjO OXE}NȻ1 !\ƺ>mhOCUguOKm2Ԕb^D7͟%Ya* J*|ǨÜ7iHV +Jd80a'sѝ4+*oN>IqtTpyQ^z.b;.zaiO>5AzWZ+*eÄ)_"{uְفrcJd:R5(\}2ʤB{vi@ҷ *t};FI@WH~uGR?A,Z>'WuBA.vF YfOu|yׯD>1b0l ecQ8pXAT~_ƃZ*Ub0g}&~ew]t%n'PH +Wo.A+e;׆\5PaevTf5 IKFRܵNvu#WD qIF6Hcwz'j̘2%ȵ"ebXr%\.܌dY c~,VWSRME!pWx)z.OġExnFr> endobj 3903 0 obj<> endobj 3904 0 obj<> endobj 3905 0 obj<> endobj 3906 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3907 0 obj<>stream +Hu >cX\Q{y ̂7dfFԥ:F*fȾIZEL80Gqc!(P-CApi̷PRL/v8k.\n/'Sc )嵮J=p]Jf9ۼW&5mII$~7,{D˩/nvM Y)-6"~a΋oɿKPFSMKO"ZgqvD˟*"u=d>ݮ9ɩeX(ać=뻟|{:6Pe }NC>uDtyӈ4#?]Ex+dqtI9L,/!4{'d|'wMSʾmS7иs5EN|Esk҂ހ0ɍ No Vp. }ش,\c}0ʒׯhpTzÙ1G/9…-V=\)mK  ),I÷c-yԒ0#wm)BMeZQuJЃx*3ߊ<6O->gn|L^u*YuѲ.>7<^zSAY0/o/{S qj!F}6vMeTĠb1!S/!.G KI/eGP/ȭ_!҅]P+h LJ +|<yb;!=ym&VQ餽[;x‚J~tƺ+ZSC,"v wʖp +3۰%jv$岈[L˩VG ڄX89Kʀ[]?Ec /pOZDc^r rHBF!*9/|ݶ n}g;>*Nv67cf_XW(^HVe@ CjS>з+w( 5p#2ov OɠUT>HȌբIj׵=$(csf*m8j5+Cv pA `ÈatS.m5;;SX~W)1d ӀKsdd}m,'ӛNRؒ|-G%26H±mk'7[4%MKA,auoAI 9:"e>NsC\=n"]ΈYO +endstream endobj 3908 0 obj<> endobj 3909 0 obj<> endobj 3910 0 obj<> endobj 3911 0 obj<> endobj 3912 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3913 0 obj<>stream +#"C +[ Ոse=33r?Hu46g%MsA;T:q5aB]dž*^|^"aڵVotp,,J*:38~MO,aegU_r”_qo#I8qH^۫Šj*f:5=!+ֳ9ɳ-* +ö0Ls[swѵPQLJ&"E]hRD3MX[,%K)nHc/յ^Si.n,Bu *2#vX0aVUqUlҨ~NzJrELF Ѻo2eumR٠FW7b3 +3,2فJރ}/Mzyq}A-*MlTA"m(M9ˋ -Ю:NG= +s2D\6R@:4t;t e$i`M|~P@^`){ AC5l{ǁ:҈/̲8ѡ;UGV*gVcx;T6>$DeAdsP;h',-:aE0;[dÃ/oq6Y_JۄvgN$SnkIck0kkl-}.>ZF%r S.4vVْfwB ٣x}墿nhj-詣!5 ;QCéɵ/ď`аCSF|:n(GtyG\,$*|P]K@?j毇$7[k~K01t$ I^\~ ^YȱVFx Fj +ٛUA9{ vs߂P>ShFu-kLb.os.E2ڔ06So6XRV֞mmiMZ|.I:R "#;AůEXz6ƤxaoN/&r$?m9 2p1+%9sryᯤh'á~) P. +c ]kYzp\a +endstream endobj 3914 0 obj<> endobj 3915 0 obj<> endobj 3916 0 obj<> endobj 3917 0 obj<> endobj 3918 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3919 0 obj<>stream +MK}q, 0UŮ`. b+[H5S: +rN1ZVzBb\|5}8nA~"yyhHmAqeV, Z?$rsTbgRڧ+z,a3wZV}PPA 57Y7Yh<Ϥ`CP2}$ّk9aƳ8ɬ0:1Q@NC3'N(9ݗdAuDH Diݔ+mxͶD)j` Z{?sq$'jжWmذK1B[+.DنM俛4ύK+ '!Ddm9tYc{ʴ)veoBKeo2EE7˳ v2 *{;x=;?vi/BSIL^ ʑ]LRK%1պldl/GPYn >%~knLW#B嫆a@z.Fz x}M@kqR͜cZ*Eދn92ƢVw5%EˆL뫣]e!9W$! e5)i>y[坨Y<@tbJ0*WFIy:۟؊R=bPq>IlK<\ӊ{ˉ &0U1 X&3.Oe"J萕f +91e 0clwOw٢Л=ь\u:X@bVv +!Vzq?/ 8}\$c*}l+JA$wdŵpZB<1.pD}S'LrVw,`ʷ#E1@e%U 6B< ﳷ(X"ؿH+ +,-C+|fp.6Cl-WlmӹNoVϝMX(*~E"S9:a7_}&MhU?ۙsI8HC)o?*ILþ5mAR*@4$hyDk&T}- uCaegzG+ W_n)*7WNLF7-na](W: +endstream endobj 3920 0 obj<> endobj 3921 0 obj<> endobj 3922 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3923 0 obj<>stream +3y½d+ ~>l|1$^. 5ۃ! 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WބUU| Ǝ&*ȼ;VI;vG97B쒜VˮzKǘmɅ-`!Z(iQ (>CD^'聾Ixݘmn8~=I~kA jxÄ9qEpvʁ'׳;2K\Z REID9 羑aU2E[U'ޤ g⑹J.S$90V*,R}bX#+,Gj22>}JB%wTƀ5:fqGzY&_1. & &ͨH/q}dr[_Gz*B0'*%| +LS ۆ\[+ Gd@iHoAAx%_3\=ig1?吇 c!U\ӈiC6 ;0bŕs>З(b8.Z>d=Mҿa׆v^Ysc2bQ6޻7lW!}) Lm璛ぬ"V;rۡ^syWƎ ѥg7ɕ;a]NfZCL O*Hs 0T%Kj ۸Y޾sr^U7F̓pp53EM1Ux0 F~fkw=՚(u%PIS=ʧh;~(8'ԽɈzEW)T&e:nI]E]mD.Pd 4vDbV&`̨yz=N:Zv>Mݏ;L֛{pJ-usVx 4]irN恁mgoHC#hU%|E  +endstream endobj 6015 0 obj<> endobj 6016 0 obj<> endobj 6017 0 obj<> endobj 6018 0 obj<> endobj 6019 0 obj<> endobj 6020 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6021 0 obj<>stream +k:C+xfjMLY'=38,^,Pw"42o9Q_@A.mύ4)>=ΐeTډ5I?4Gj4Gߩp=}"#s] B&E_L#X/U&I c3>iÔ@'46{p>*$0bZ/,DJ-j!bHt7dx!AiTYU|Pi+Jmrյ6 +:o.k~jxxAWR+P6ќ%PGo_LKwɑZׁRҲZJnp&A7mva9C8vˍ?N5 odkٔgbV o==O+c6&xqzW OK_ݳZbȠ @c(CojgR@:׻cv;p& Ob?&upXl 82ʪC% /k.(E"-i3! 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? 2֛Hؠej{OFO@ eJM7OJޯQKi\~KBYf=0I4*5קl@1e3⒙Gj:$DWVYQVsY)gҹ mw޵%"`h{MPP>ΆŅO>2:Dp"ƖpzXUWѤOGIȘb EfMDΙÌ9rH8|ȼxR٧h{:H ꐴ{8Ie %$ꅈ IR9mh&}7{{J2`k$RB0J5H6(Ui>rJvЀ7 t;__JzD{$2{9a]uK÷$FTjgd8?&J|#^nt"gwEآ9BiWɀ}n{V}n`T@nƟڛkUd2xrB ..G:y'nǿBel?DtdF~)nLBw> endobj 7122 0 obj<> endobj 7123 0 obj<> endobj 7124 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7125 0 obj<>stream +YL[7rnT2y̱54ШC@<4ff'V 1;R}sq~HxjyKأ#6qP=3+jQ9[0{0$s-n~+nsY8ږP7ua?\.p'` '􈬦A?~i\] bpv|o/ʛ*Y]VA6P`rZR!cT'|l B=qI1ah; +y]c[n_6XJGBFq+^z3"_ubUD~^Ck}\tV1:Ƈ\x3v3(?>/jo4}7·ppj&:X6e"V`<0 J##D!cv{38ykVgq?+~E\_Zdx-;+oe7ۇ&+A^ g,YPR.ajV~U+IW,rHTdf' ,=3g^\O2 rer<[~üψ~5ڽ]gW\wt +cd"2pCW ORu %c9LBK'k-E ;$ |%}d[{R1v7=tRVP.}tu|Gb 8٧sk[݁T3p@;=u.J-N8{p+f0ԚY`lvڨ"bS?8rfbpT&*N 9ʠ^Q$$4bNIx&Po=^> @)sKS<WSOVxu24^.ðߣ$/Hm"3-Cm*!Tn]75(29A")R#bofjO9⸍ +0Sna%Cép;U;d P%&VZY~#>sTs +!@*[/ᘭHMEmO~ q3tB.Q-(QDTI#‰xMQyPwq|N'5sa͔y-ƞ\YV[ZpjdB$ o8U~yVR;ARN;zٿC-1]`Lh!:8F%&0mr9Yhԉhtɩ6@X`wݣݺLレ U7J!Acmi=b;m=8d? +endstream endobj 7126 0 obj<> endobj 7127 0 obj<> endobj 7128 0 obj<> endobj 7129 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7130 0 obj<>stream +֜,m݂Dvlhέe/wUKG[>w I䗚S _V_g4EAj mU{Ffr| {ta`uOq;J 1raI "bfӮi41ȲTI 5䣍Xκp /Ԣ +oJD& +{fLPt1;mIu +g~IQ仅􈉿yl;A2$42s[G7\ahУ|{վL0GmfUtUʏ`b*< ³qA)Ž4x +؈x .$R +hwz}pTQno 6j_dl$h ݊9( +ftEFE.|h&8̳fXz +"+ar!K{ ?`ؿя L?uÃo +R6oq2TGZ=`\*Ya@ut:l8 VϮ8*#Ae63@? 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+.$hpeQIpFIպoV"wXf W+qX +'=,Z()wdK?x9݄Z wE*0iL> endobj 7143 0 obj<> endobj 7144 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7145 0 obj<>stream +x#+Pzac*<6kUKJ{c,uXC$B {ѫ•F]>LZޛaHO$a, E7;h)v.IjF}Qg1ͯFi-1u8h俉!Bc9R4[6qPq'˴<7 EN|ƞJIK?ak<@n|,1d4m)`>C d&/)ԔE?Z9x_5BܶsF/b_[:?PU4sҍ˗ +d7S;T2a1/kk*@{X |nHƚPj'Ss +b8vm6ٌ2{ԅ%p`*)>tc ַ 7ȯ=CxZp{3CǵOs0wK|;ns$ٖ n w2O޸QR@# ='7)%Clc`ٔl"L-UX3d2.V+c "5MhU[dٕ=Sl],h#REQ [[Bl$T9V8Id؝;Z>j 7xk{H#xL~DRW>fL;X&Nxw{q4U7:??cTMěp;fAW \ax{wl{zd7oJ͆p>Si|7 r +wEns.-sPAœ{ͺ8$yf3>T*>&FLY(KFeQ҈cV[Τ@SUxi +үAp)RYYr͇?xQ:̑S~k5e |Jj01oQ Xm_̄.et-?ZaSLƲɶC qPF=Q,6l~) +XV!'eRB`_v"_9zژ( )!]&5EeN8!"ӻbIl6N]B:.tS 1M[ݚעy]ڛjiBrCj(\B< "vJU1* +endstream endobj 7146 0 obj<> endobj 7147 0 obj<> endobj 7148 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7149 0 obj<>stream +':@ؚg1(:e`i P0!܁l 5oAy*T4cYO*<("pQ&4xo{ w^t|u? 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'Br$}2DT3{څAffE:ڼFk2,SL޷,AJLoy2tQr~u/#S&-IjvXTt4( %ZĜp_& +] ũO軮SMxg:"Y mª5VэR;ҕ!muo?z> endobj 7554 0 obj<> endobj 7555 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7556 0 obj<>stream +ЁG)O2gUw߄MVԾKFi%^jOD,/ִ?ق3İHL +L%B٪\ʪ2ϯ(7 >sA +Mq6%lqnmϭ7A +a +B $JՒ/j:85T%il~ĹZmb?ЙXiQ[s;8D<,'UPcOFS-@!ԋF5j6ee;l9d]%!ȟMb,:mKC磔~jN%[w׼b21ȵ'~ԟ;ɗʯ}S45PGx*raƃx5ޢ@&.'Dh Mb??.tM49Zmɨq7{I#Vڅ?ޏbob`d%X1~Zx(ؽO2@R=F/>m2! xʟWC!Hl+Roj2y().5+SS#F;HVߥƾWл |X +Kuk؝QWLg8:e*cT +Ea%'ň12Pv>hOL~ +y 7HeAvp(q!?6 +b|sAM(H4یG-t,/[-3sXL(H`tf-T<-ȽsC™ʗ2(w`Q_b:phiqH'\ VvK~Y-`] _Vjfo!fWsagה b$Ԡ[ gH-phS +qM|:b hj9k0uNo_%Z1ro.m 7%t> endobj 7558 0 obj<> endobj 7559 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7560 0 obj<>stream +VCgf?}l2bWLкFk~⢂7&pr ]]"^v`j33 B]e*{:Inb?f{QzF' [XQo/#Oͳ%,]cWg8s :+Oŕ Hr1y?ݷ` +Dm9!̆Qى1r\xob)8`,apSo-|[vP6$G,So3sZGs{e*d;8]> l*6GCx +Q @۠1Qf ) -Mb+ps N1"O)?xP[ ڥ[Qo[^kY +={-ܗ**~k`%MkV* ; +Yz8[rUX^lM%CþLfqH/[S +*_" :?~]EH PBB"Fci͘4(Q))̮!2 @ZGR)b +endstream endobj 7561 0 obj<> endobj 7562 0 obj<> endobj 7563 0 obj<> endobj 7564 0 obj<> endobj 7565 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7566 0 obj<>stream +3wϓ8[daQN_sjۇRӚZsK#'CK]1\xj6HU~#aMtip-r~N)u5p)0ū$-/H:3@lV.}3(\py—qư;ݰ{Go-q _|Ju f8qե#ρ\$6T;R +QmݮY^nkp b߻ P@v4h$F6,Mw^enh3Ebrr#\wAFpPŏzI?4֢x35뙺 B)"V( ڰ %9%6] 0I}-(OzʶQoPɪ#Eƽc޳gu ~l2Ղ4VSh`cbb6A;Ra/䯿@YEFgܲ=w(l=;@O]_VRc3 {ė M"Z:܉% ljڵCm~2ֆOє+1?1GL-+cnWli a6BIV%p⨦]o{ p]/f+CFzW Og{${^xtLf9#eF5 +LB@m>+4q̬GB'PI$F<-CbrM.bPbICi +-EZƹLD&(EϩK>NϠr85m}'/wfbe CAqZ@_V5rh﫧\o$H&E)ϯ\=tUUf?ojPcdS">'\Br=i]=;n)- + +y)+zW3!iw +PdDa=1ñ +69[p>dŸ_AR1vlmi'-ҭ  +vRe[u!S=/z;0;C_c6n#A* wɣwC+T[]*sfY rw,# rͼ{񕩂Ҙkm\c)pŷ +endstream endobj 7567 0 obj<> endobj 7568 0 obj<> endobj 7569 0 obj<> endobj 7570 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7571 0 obj<>stream +ٺ@i98=ʶ3XlzztE)X/Ӗ.QE+4Ot +$k[ɏ=I 䱟 S$}<5 +F\W t!G$!]qS!'FE95TW/ hnع%U.PL1TH2܄ EA.m3BwRf3l2ZMW_KvEj0檬2dpa}z-gjz'B +endstream endobj 7572 0 obj<> endobj 7573 0 obj<> endobj 7574 0 obj<> endobj 7575 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7576 0 obj<>stream +0ro0$D˹I{I `L5NOZ&Pki}ii⠑Uʐ&˭LwBluq:V>>W64,ې_ɩq53PysDnBI^}rzuhKxK9wK,A7['隑 m5Ӧ \ZcˀxQt;Zd㻷-O6oXBϏ.5{V:L`Pr_e^=^nҔB$#|B#r s "`b0/U-"W`]EҚ  +ͧCM4خzJ,rj;,B8SnxQX$֍Y9!&Cgmo$"ʆ`,c3gٖ Z\I'6W-A7m)B#OC۔6aаɘ=FcCT3nzs3 PzַUznw,q떉$MCX7=iEŎB45!K=鈑7ya5 5w + >Na鼯uے9:Z/o<aH/;Fq}f"\D{4F%eec F$$KM0ޝ`'UJHoq+{ b.r7hFD"3 ߧ*!X9E-0:O k4UzxhsndZP l*D t0,fy6 .)X,w a.>#BI\D]${˦7E0ΐVinLäW۽17`^ %u7ȵ[5^OD~ᆊx-%8w)cOܾ_`nM>E@doUXvQ&n׹zј&.{ 4D({{ +endstream endobj 7577 0 obj<> endobj 7578 0 obj<> endobj 7579 0 obj<> endobj 7580 0 obj<> endobj 7581 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7582 0 obj<>stream +% @b+?Ӷb=5"""y2B*m^F߽ +@ #uR1HsS*m(RCjbU3g|&)ؗ@%R%&a MMMGŃ^Ao$50,!. k7r0 #^?AzxXZ_yVPڬ?$3MJ?4܍DʝISЃs 5ݢY-GЬP :ʃoFL|R04?Oj;,YYo_ӚZr؛_ꑽX%s=WDi9]d6tDگ(f=N4I[5轲gS?i#4Ǟ r= BUlYuCW\ZO;+^b)!&gsh@D8Z; [MP ؔg]&| +H3)@{=񢣥ŸBEc5͂TuY^=UNA2:<OUel8b2vr됑U)ˍoěj)Lh{b3=sx[+ʸ1E(ptH$wo8#[ Y\p{418gх| FJElaHO74VzHZA="@vQFT1떮eadJYD҇apj5y,#VE4.Kږǃ1!W +޼5:h S<^鱲k.!]ƓXؽ%sm"n5TehXnZ"uCqnNՈ=!ZN=~ӪF_kdN3E*>E,O-ֺt徔Q2k ĕhטn'}͡MlnGшDۤFXof +8ӷ٬b`c$qtֺ7)nT"1]HEdͥ'Yȅ)u?P,w;!&fjoб_lZ1ݑbp k}H,Wႀj#sȸ8| ~YZw; {uN>po3D1G?諘&jC $hx.[{vR:ŘO֢/([c)-v" l|Vo4 ̕,i48)H ~̜WKDO^:{X;2јʓ!-i*Mշ׵F` }>;l}k(],Z$3q&w/dExC6+=DCa]wm탂t7=RyGD\(o|]V 'ua8>oW?b> endobj 7584 0 obj<> endobj 7585 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 7586 0 obj<>stream +F\-7 gq\JmDŽ:39d3O߾㓪x&wgvny;Zy31m|wOgԘJA>^C ? 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1;FIi]1Kž>Usbi>bA{rW5U0U#z*'6E!v(%=\ +k,ėkZR=}0l~#mτek.ڄqOt<>۵qpskΏB$Z4qůO +k# +IH|$P<(ZFZN*`ڷҕ}޿en2g*5 ԌGty4J +UFkO[؇㔣2af|WՁ̯l^ +endstream endobj 2260 0 obj<> endobj 2261 0 obj<> endobj 2262 0 obj<> endobj 2263 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2264 0 obj<>stream +)~$17ݬ;#.~P!v#Xa*2~Ծ_[o7o?-I iDGU**In:`) +SHpYAzhDGԋ}zO[(y(Ũ~1ws~2 rы/w(@eܙ jbJq)nf|["]m:3D }@zd J={I$nW +.R<;&Kcfɰ#gF j`Xņv~2s eJ;a@yhez.a 1+E\C|'n_$ l-=f>e.QKD݄˴8I@}|(J?RKkoSňΒbYUk2|EAa5-#6P領Vo,0 iv.ыB]l \F.5%XZ뵵5hmKL?9oD GE_g%'B67P~?\g%D4dxhPGKF?w}ۖε*oN| ^ oƗhCג.5<=SCWT=e(\@Qܺ C2fO?ojUNՈFX(: }Y걝āDrnqQKX$"NV6фQd]xtw)4?A +nq>Vr.he~oD4cU[\t9`Q8![I~WBWGW>WD b-B-zs~ +0S9qȺ:YJ +endstream endobj 2265 0 obj<> endobj 2266 0 obj<> endobj 2267 0 obj<> endobj 2268 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2269 0 obj<>stream +u/3~ tC4Qj9b*7XO46.IP0)cqsiYnd'_y0f;{$9seZ +S ԊR>*y =cLM$c¿ Žtጣ1Ĥ1%s̄+ -3O +P69-OIH"̖6 +oLMtjXS'Q׍e=`zw@_{yPH^iqU(Ҋi*z5#`kQu}zEa!Q7ٹL-iZr>686%}/H\;RqWFeCXeA\au &@XO#7b2kEE p85Hԇ #mƴ`2sĄR :~/=aݯ!2E_Q9kX⬐,'evu  +Y}?gPG  4}8~DזbG7>L jxE;+&0[i>@VY_ǹ-=/-I o#f^vʾ~{T*zG!`)4's{(?o-ʤ#Y|&eR02Fz4(Ҕ l9;%-{t;P䭓'G&}ج΅{kV7/'@_˺)So5F`=+ QTqeHDbDI\HB餃m[> endobj 2271 0 obj<> endobj 2272 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2273 0 obj<>stream +[<}/43Vi)[TY0`7/HVu;rs(%v4={*|E\e٨yvC J^G#.ߗ8cw`τQ2jj~댉xAfwb3'9={:/S=xЩ:r$'24_Pl*wwl=T[T*'AK,>Kt  +emcNJ/GƬWthbW_Ʀb&ƻ+C| ǃP;VV ߼69-%vhk:`8 ?9󶢴Pˬ)%rɀ~wBdVچ 7K8hnK4>LH!dy[wvZf*dP##|AKCwu# )z()@Ma4rhnE/ž$n7t X~o CN('ޭk]L`vJ̕ @kpomvʨ:jZ?0C."vTPcP6mGҊ0s|lc]OB[?+^,7caZ B§swOڑ7 X%*@"밡 |} mPzDP(%gn/`Zs/zpo^=Y!DU{q!`I| +CǽR(;(81F*feY2o㑫,R>i`+ H@u!@`\ө"yvR,^Tee_셛%5s[,ni~NDo17b*pțܡcrH!zgO-{<-#H&]j%8@a n0h+˓YBKY$c[W牳o8 +endstream endobj 2274 0 obj<> endobj 2275 0 obj<> endobj 2276 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2277 0 obj<>stream +*?6sU!|94Iqq +o]O1Z<_1וv-PпFT<"4kT _[Դ/LɵFJ:4hi4rmE\뗭mݒ7?]Cĭl"|3瑖H2u\t?Khz/ZHX.rqEpD1I$T &HSK9ﶽeOpԔ\,@ V)"C@wGǨFa3)K2Y541R֯}t鿏i^:G{25cշ+q*qPR)).`CV%)e0E2?ީn_W:n,_ jfvnƃM7E}򎐟Yܶ RRt`c(Q2 +0;YbWblu>zhn ƞ.yMkf*iL?^~< 8+VR0~im +mا |eÍf֎ vQUQ3XE2%O3Ea3GXPmcgOؚ:2ˁ`RRQ2fh'+vaܶ/0#56]>iVJK[ӱC }p_h+e5dڋ:W jJ M .c*Q i AM9L`7<6;Ti7c?Øyk\s;0Kr=|}/meLN5 +[8osiax)o0ʖ6^Y*H +endstream endobj 2278 0 obj<> endobj 2279 0 obj<> endobj 2280 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2281 0 obj<>stream +tfDwl5o?klOR6}>elB=€XZF4xWlo&)`6L`T2SMMD#KJre͘1Lqn>CeM77 p'g}X5+}1X<67A8<3)Ŵs.o$D`j$lXB6nb2:]k^J\Q:c:j۫]{O&|]F ?Aը)ӶplI]t Eah5mGh0C*>zAePr4Dj{Q +[x7N(R׃V*]PKs2bUUy|_fЀ}B9G6Ӱ'm)@NGS'Djzj 8fHVhЍaR˼x. > endobj 2283 0 obj<> endobj 2284 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2285 0 obj<>stream +_ 2N6.H]EUHϽp9w誸̈́ c`SKv_gUn6,y_ ]WqFGOeĖp4&sR4"w ͘QRhY.S)zװriR +rFIZnG2*X)Y: re(-$SIHkԑipH߂`)MiAW^[4 ![LG̎ Md+o.+4W\-0$(cVOwC_m9 C=/ܐ\B<^OvL[0gTg$J=(>lgQ沙syl y|\vI8N-WQ^0̔Q(Lh3_w>ej@}A!=K>BD +} }PjеYwAr41rfQ7*T`kP(nư$qrX>BX0#_=a/E= _ʍqʕσl-CV UتVC=n;G1JZS&6y #clQ$g_3\iONܔS.ۢ ++Ƿ{fRuG~j,6c!@qh B҅^#"Ձ7\ +PN/|(b:,p@|fȶQivaL5jyvnf0 Oދ圭 +endstream endobj 2286 0 obj<> endobj 2287 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2288 0 obj<>stream +&?9cQ*~]Q ha^' ޵h;K2oo%o`7~v0 pK=HoⲊ=l#AٚhDԝH/=fƫ,r!06ëoT^ae8&NOǢ1u'0!4VIr{4J V𥨷пL +E3L'Sa!XB,ҥ5>3XlWth*&~c7l LBVs0®Ec]θ[κB$lhA1!B24NҴԱ'ТR嬡 "eۜ4IɃ(Fٍ-Bh$OMa,r="u*B#݃ !H*1MR5Izfmg=w_Pcy`ҭ 5]q}nmJ4TBi.תnn9~ =nJ9F*w]lg +k\K]nt1^ILXqޟN6W5lh&%$~Ku[_o$cMUΔt0ǐ,ZB?bAB ECv Z怔%vάj,g1j/rD6c~Ѯ f BWHX7a C +޻#[UMGВPsh>>4jwt*9iu[3"#T D$@M8:+bÖsSyN;9a(s ll}A< +e_)׈&UШ=`*s[~7爌i(";Őj%\ܨ-& ʢB,57wCV? 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R*la yK'j7W' +y ܮn~jϔи?0_׆bu  /@@%_e7g3F!Fő"¦R +2qN0eO* ~x:gN4 oVԶtb> endobj 3045 0 obj<> endobj 3046 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3047 0 obj<>stream +QGmzX'<WZNzZ)ْLI9v5,000/Njq4JVi1j~`?ۏm,+=&lSTǺ!$O@\0ƏPa=|hQk VXfnjR!^,e0]igO=_#`ˊ:A~PeAl&cZ7X",*<-hE&c7K[!Jv5X#yQ.~ޠ>[yB Y>9 cd%%L^:F^3h#~X,OHp.Y'-L`kKHݳa>cwÅo f~rG=l4_3_uKc-wjfUqez4 YVV,UF庢B/ de2QJ.AlFKc࠿,8R"86roT#!_ǁ5`43dxcp ydvΠP >ʗ_$RźhcIWcFFfDB䗓S9.yωɞ1oиJ1%l`daq|Jnf_|}swGmp 7Id\ 芟9áH R R p %? 2cݎ3[k=QR_%)luz#mr4=byox۝Yb'2WK "DI@@>YqlYscб!H!˞?RDU0a,[zx2?wAkgشv^!\ecQY0:cziVEVszxϖ[em@.t TEC%JZdÞn-fKW1LiQS'QS)s l8r+Yz>{Ԛv[qRh=v'ƌ#\~fE螇dO#W  +endstream endobj 3048 0 obj<> endobj 3049 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 3050 0 obj<>stream +lV8',)o[#:%-|St/a?D5 +pe7+!څ! ^ WbqK^£T'8f: 8t u[/ +$&5rD +!ɿ %n%ߒ,̙1*^XNddsuqo2MVZ~:8B(VxO>pxת-_ꭊ𜋢 :@ iÜџ9N#U\*Uy޳*Wx9׾9ې$Cnlj&YNtuIv5g4? 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YbrSp!w᧒).̦0'a!Դ;@/2L0VsqD$|ܠQtVGEqxU= ɢ*q"NbgcDqbiS;X]]`9} rI/P;=cֹ"IQŻKPv'^}Abij%F9_[2+_j0i¬N= p"[㺓0KГ iN>R0(@ D &4Gڵ|bj Pc=l\K4|/~S6SUQڟSnaY.ޑ‸94Ղ2퍷7C +zT3#._f}=M Irk*5ٞt#%_h6Y;Xil >$7֓\!;zlT-3}eHQ2"@`.Yޤd+A?8`QUp|2, D%I +!_0/tL> endobj 4691 0 obj<> endobj 4692 0 obj<> endobj 4693 0 obj<> endobj 4694 0 obj<> endobj 4695 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4696 0 obj<>stream +<yTW mݭgj]| ;D=sU (B8<+&vo'@UtWT6zػKfsK1zG[2}ULw +ъ}n՟HCÀ;bXOB-F~O`D7ǤQPEgfE-Z"XόKDܸQg8qg*+LȔ&X* b#lL6H9\@I7Rx^{" `kY5s־+ei+ܶy\lԭ\ZF\==H}>]G 3WWN0W%pv9H6 -r6yG#Erha:74+K6 LDiRUأ2بro+(mI +n4H(3e%;Y/08`5u2IU &:;#ݴ]?xZ |`g|;@B>'?MU~`Q/Z$)WKdD/(9#mQ9XX"'vy$J:e3Ny6% lhbg$\׈SbOS CW&Uuě^Hw@U"ZF1=!gPaj1xd*'/q +NhLzb M!&Ite=ArjΧQ`̾bH[< $j̸R:FB{cH~.Hj+9m&XóyNlaiD iMLT=*T}Z'M[d(Z_nحk;t5X2ldD#1U3, 6Nh& +DLo9Q+q4 +endstream endobj 4697 0 obj<> endobj 4698 0 obj<> endobj 4699 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4700 0 obj<>stream +;aIKɁ࿄'"<(b!I{)ć;`(?tm0etgO>\]L + :h|x#~EqW>~%*qU[˲d([^4x7׷٤4?rL9H\|pHl,1 e'+oȩFewr 0/MG]=Zq^9< ofjA9qo׎5hn`s8ts ^ӫrOv \nXj=#&+D^1PwÈG+K}{4LU )-" +h gmR" "</_ZCvr.o5galAfM_|A<ʋf36cnPpyhtjlk.4Te+ +C(H4& F*u:YTv۠y![J~26rėjuSHv3+˰GXI +],ּuJX|?:pqU:jvϑ^>C_"`#(EǚOOQ7;7<:90:qT v^4PLR|m83팣4\[|ʏZ 7y5#\Jf}EoF +. x#s7QOLlv*ߛ`bXƩQ`wdmxSY:L +nέr?*O>事2 Z瘣AI~g?ʌzۥ<9L!)C\2smὫeZ0?ByȕGooOkc^ГbwHfgIc8:HFS;x_wU@ +pOmFϹK9s}~H7+WJʂ"b> endobj 4702 0 obj<> endobj 4703 0 obj<> endobj 4704 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4705 0 obj<>stream +!7viGGW!QY/>lv('^.?,Lv1>H_X9 ^',*z#rVW_mGRkuvfzOr)+qS 胺ījOZ?jM=ZKuԛ-a]g@,;k^0HQf.Ԣ⒇ @:f$T݋l2?9r|uMzIЀTP uK"}tþ2yzMc ^*IrÊ`(pdOEa2IMTB@xU1 +F\#1!/*{7}?!]dVFe}-ɐS[IVMDpqn{wd@Æ˅Z2cM/A%(#m5F:b3~̾|OhN3^6BAFGץ_ '2+8Gk-a VCJjAoW:Θ8 OZk)8^ m +k9;t]V!hÕ S@ǒh2&.F"P2wÉ8aXM?wJ7$<Gdԫ{vOb8U2`3j΄dLmJmN;?ЁӴsRqmVB8DqLIYnւĭLxKLn UxB%-:!|}cG^f['w9ߑ> endobj 4707 0 obj<> endobj 4708 0 obj<> endobj 4709 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4710 0 obj<>stream +6py]M/:,a-'o !&%k~Y0ag~ %5{)ͥ9$do5}%q VO}\Dz}GWB)Ұ d)ߐ+*tVθ_%=v:dXJmoפ׵\%+Al4M^FGYDKB^wT3"}c|R9L~a#=}ƀ wQl|HixN7> =4dWiuyQ/J+b3u햯_-wjTIzyҪ\t}eYSsbnnG^E-BʡRœy=Od?ߴBIQtf]Y[{K#8e)|$Ѐęvl]Wlnw|Ep:24"֦Oi[{׎U'N@5v~Oڏ 4/iAѷrbw 33AG9z$3%8hWGЫ)lc%PO4)y?$ +)wj!7x|̃T09z*򾞰"\J 4lT}Lt \ ᐽ+K 8x nJEȋGΈ<,gdKenh7l\B7LSM%vHX"HO]B,itGT!!bG(HRS;.u`ިZHұ Q_PN% +59? a_6|wK cV>i{E3cWxa,Pa|5׍ێ\+qy$k?:zYV)ߔHû[ӣmֆ0V~V;e$D%e7н+~Cj~ATaEfϾn@S9Gcĭf߹({wTv +endstream endobj 4711 0 obj<> endobj 4712 0 obj<> endobj 4713 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4714 0 obj<>stream +?|r:%ӕ hiT~СM8B_]X~ B4ILᔤCRD~g2Ɏf1S&܍mg1* +[r[e/zk6e݊,xHd 'vCx& #IZHt NJ?# f@ +8t`S]٫nq_4h/W [EuRdkZyCSWrƞ{gSyR]y$Y5-xpE8(Qs)a0[Q$8L'⺠kJ3ܲ; : su`l,:]ܐ,8$QS@jRa`ag\9w&23--@}~Zvlac9DN v%R}L,?GLq(blĂ t&FݝߙƧAxy&CxƧUGѸC͔XWԋb=iuמgRcQ?,fjc1*Nu +^}3C3H?ؓ0#PI FыrRb5 -T!e.,E hM`d~(x✩#\0QEH=&xI]%^6HN{Ѝ\vUF[T]ƒ^ +GM $ˀ1Aٴ^Z} "s9K=bAԇîr'Bwܴ*Fzm*]#c"D;X*`ɫÔ޹d?n 5OaM Fz O +A6\ D0'!2aҠP \ V=ܦ׷*΍鿳> endobj 4716 0 obj<> endobj 4717 0 obj<> endobj 4718 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4719 0 obj<>stream +oNo.<6_1?j&@6yESŧOM p,a8z\U/~ltLj:6:2Hb<"-xW17 1# U<*5\(S(ZLr\B\ +'g ġ]խ :x6{_,N29״5hڱ$"ς~^GmPI Xw1GlZ=aG遹uGn%ռ;.X,7!a^aP-SR=x4sCɉ]*DMf+9nJڠPˋji W*Q:}Nޫ4!6 - ),S[t*yav +b>_g|ξJ-`7B5 ` ؂~&Izӎ&n=/ +  *2Ah] Հ/-~inhAR(Pips 5n  6<*KxXƓHԀG=5`!g.z]C?d7tdQV֥;+ic!JE8}"zb/B](f~9{N{T 7t9(||ixL  +lJ/[sYpd&Coֆ~ExF_ +]CiiK AH(>8c"h"XKs($O9cS/$CByDx๰zn}Ќ @S~* }nlm4OM8TwnŝQe΄6vJy]󏩨\]ƕ-P,,dlM0F0Kǭ0RI`[KXYg )TF ʄ4HH@:[/|6`lMe+D\QdHqť7}nRELQa/+X1$pb_*dB b ؚNW f/sFTr.|//pve] +endstream endobj 4720 0 obj<> endobj 4721 0 obj<> endobj 4722 0 obj<> endobj 4723 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4724 0 obj<>stream +{!>a؛ClLP4 v‰:-)X<{4Ku p& 1!N 5xg +\L1e; Qxg+ь, 'n`@IAfh$ +9);Twk_>N/6ݬJalec{,TZiQHC/4ֈf{ FfhX0z6Sjzd q;Iq92C_|6k =cL6k^_,>X0Qg}ܙv>IŒ(]Cj;24vJuŏLD9_yM)XLP'?LVY4"ixTqhS x5{aC_<bReS&2T X2eeYj)ؔ-譐 x:YS %Rp{9v5C +U]Qa'8U +f ZVAAN-~kp䵲RÙ9E1u Eu0+RTl{uΚ 2U=?M$G,^/کqwáTHI4kvg> qDˈԑh9)mȨ%LeimG:O|GAs2JYGN|_tdM(#fRĠ@WcywTˉ}Msi{e•d̀ ^V*b_W|q)4.}춤MfTZ +wEulp> endobj 4726 0 obj<> endobj 4727 0 obj<> endobj 4728 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4729 0 obj<>stream +垚g;Ag7epn~Pj67Du=_$vT3W7.Wi`lyf\i%bLz,|Ǣ<Α Ag:6UP)mVEf9&QtwQO=$?ѓ"foʹmpj>"[hV}>_xzb10/ KX6A.#=tG&bϹ%07hɾg[RYkߢ(ǿaVf{"0H<0VQ 9S蚩,fq 3,敭kM-XY`.)4iaR|][drpp#S>PQG5oi@Uh8 -qfQI|} H|pCz<@PU+Ӵ`R }vj7Ы]=75a\bbM"-|F³4:P-аp ([$N S`eNqB.G89pzdQ 8wls,FbOAWpkwעI2,F"3}3K^>%}ڜ&_L`ƕ/Q&"fKɣyXzUc&3yCdBoH6E,ϰLlzi+1 T1}vd&Ivq#dZT#ax`8|-}w_gu(eo EK!LUnJDT5`WEXvԚysɏ/didKɽZ-jK,$ۈhݔ} ͣT~WfiU{ofeUm6x+f|~_?Ai1d6F&t:#y٪u:!r`VRV g@I|'0)ͨuw*Rtap> endobj 4731 0 obj<> endobj 4732 0 obj<> endobj 4733 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4734 0 obj<>stream +)R +YyՈbJ"Xי=# p`,L MpM&3ƟrgX)+|W+wo s/U&!f0^ T!0ELbR/%w*b ky{V.GxCW8߁}=ac"/X?!'rv{~Fr85{i wA[`wd&r3eqp +.D\ޤSle}ԸcWg+GO(!?Ҟ5ddZ3CQ+Y[(B3ۤp/U$<*jRXU0Y|ir4{@{D=˸pQ&șn_gWg9zHPa/>[zO| ϚT$<2꙯F`D waf?RHA>MI#Ϛ%d~"fD +endstream endobj 4735 0 obj<> endobj 4736 0 obj<> endobj 4737 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4738 0 obj<>stream +fF;\;z5 @31bElvySc"+foxDj+qr*MhŪ_&xp@}>Z&}G!X؏~GfKdbPW ^>DRX99({XG|<'SR ,?p[QGI~en?DfTG6@Zs~KBfU5 +fx4i؊՞lɒHd +.CzOb-u1D EڻGNZxDo`R*]k*i6ɓHŗo YEu){:UZQa9eˎMz >F0d? +Еߎ@~\_%*$y!ALAz-7Wob׬1jp '5 myĆӸP?k8$s0`% +gȾ w|259WD63'y3(σp DCZmH2D<fqw"e.c8Eɴ=bܵF);t/iKsklc\4.p;9_VR+03}=Nr!8y.A47šY6l4J +N49evW$[j `ϕpS7`s(pAHK~璭:$'L!MkF TJFNSa3.1~A+]fU*tDӉT\4s+,rٵUNdw u z䎷 :ϒ ^&<֍ +ϭ7gzᨒJ֭k# :4aBU||4 ɡ-ZIn.W{PNZOG\ +AC=|12g$~!'Ǎ.ثCk[!AR$"> endobj 4740 0 obj<> endobj 4741 0 obj<> endobj 4742 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4743 0 obj<>stream +'^P2#hD `I@m}p+uwZBFXoVpHCDJ.<ȑvο+8}AGWګMn W6sLQ-@@zq). +)ג-w'(0fEe*l ++#" )c:X<"Ix4&Ֆy5.O.|X5*AmbJTc6&c:fxUsN^8 D@![G6 sN,< taMrVmLb2m^Z-2 G'x.ހG'cA~ ~oDȝ;ܳ)~p`L@.vNLr +5|B4Y, Xdq #F_%MLcHlҴ|T۶Fr +zkƻN.) ⋽Ba~q_@/ g'θw ^##`*ٿ/gڄTpkL/ރo7æpW=x^ +S +py$w${Cm4r̅rWb>!, l:Nuj&h^}nj$.A tWۗ^rїɴ6zi]+) .Qֱ '=\ DgתQÚ:JM·&戩_@>Po6)V4ܣ+URf`J!o$LL]a1q!WBڍ=W;>7N945(p?>hlƟ,&|>QrTǚxm48k2v`w-STDdIYմW@Z.yr_7o!ŠM trneu< ᴤvRhcLJNEJCwUY8T?p|yb#5 48Q;ٮ7E= +ڥ9!X UŒ3 wmC4K<‡|4 ~K݃몃 $Zm2pkSmB +endstream endobj 4744 0 obj<> endobj 4745 0 obj<> endobj 4746 0 obj<> endobj 4747 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4748 0 obj<>stream +Iyv'W"DO{\t%p ]ę-2t6ٓ z ,*.hk-O 6^8~hl钄%rGުFq_P?8m7}a[ѽ\kW_\ 7F6i~c AʃPbZ Ot|`Ë#h h9˦:fH?ιfZOry?)kX+xʭ=;#@s΂T[ns%-[E!Bi.0=XGÖ[J%Le٠'۶-u.nI |38جE618@& T(pnQTpcVup"Ue.]LL=sťh"@c!wzIgOٓo̰ WShX!)(8(;Gn5EM??:UCP>W"јKsDcqsX@K^Qhm&{^j:e0<՞xOe;9OFwbD%ʕafP$&y $hpϨEf y&Pl9P#=^󯂣yqa3+'?cS>+zK4Jfbz g 7C!܍NjW //5Sڴaug2Y,VTf8WdZ\Ώv$+<kISxx౨Hyt /Ao=>Ro2ˍxj4>h|Nn +endstream endobj 4749 0 obj<> endobj 4750 0 obj<> endobj 4751 0 obj<> endobj 4752 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4753 0 obj<>stream ++/@j/ʉ +Fܧ"9ZOe 'n9VU2ցrU%43,Y5`FӮl YXBuUdVTqFz +SUJXV7 rd,Y%>s{b{d+m=>~hUQDt9{DqM%FzC8a2x! g6] +?ÄxA6 +m-cD)r?/XR wn2G1 eUzVmHH’&XqUDxY ߰D`!5_Ǜ+VΕk{G)@JF6oEFjsMR_e'm bZPi!PuKq5ijiNiX4+ms47hc"3D"d롍"HZLo"ؒ vOs=bYڌ1}>9Obm0ga,~52Nns;\cܣTXxQ{Iv1/:.IfM1ǧM\CmV*|@'xk bKB~c0‚Ҏ$DM\#:ӽY)G|2g8wèw؉{b\bTy)܏jg,aƄy/yhĕ):vq B@P%)E . J!Xz!dUyV5xWS ?st=`v"9PEg=`$( WI90ۙ74DbwO^P%=]A+#g-}$_/6Ƒ302%Xy. 2="H/#{dTߌ7RKV E}h"ke&0C ll<|R9 ?:^XdBy^~C0| mfjs)zrz˛ߠ-D4"V] +>ݹi,mcc5~rFd8 }QMH9n@h9VDo& +endstream endobj 4754 0 obj<> endobj 4755 0 obj<> endobj 4756 0 obj<> endobj 4757 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4758 0 obj<>stream + 'I{9JXј&4Ӫ@ѽX +N{9]bC+?fV5:@EPƷPS"U͌Pe:7F##TAU, ,DMe c5K9@M-xsq?בjpo}J0y 5.юVfω9G!<=^P(=gMaI+i֨X_xE(h M$ɻ+έ Y0J,ߜ"\NiB?^0`pNcm[HEƄ\}Wa-gX,\쩏I6¸b驒-(Y;DYnLqp硦3CP?!+h뵏0сk?R?>E롓/[=6Ot`\^@?_#VsFω5^pH;F 2dVnQC]:oHD>CR,bB;~u%Jx~ChR:rVժ賟Ω_\>OиAn_}). 1v~KC18Co>d, +7AqSh(ur-ا| e sf#JNG|'k"\j{ GSb `=;ӜBlC^f?ZRrUH%!dM.0.NpdkE#q%p0&wS9.JXooь'^MDxmkȳ \,B._3$$ZD#8PC ]Ic\ħU!" 9 sպkל% PT]#vSȪ9B5*o>> +-i w2`qR=#OCEE(]9u@L b9o EO2hs"WaO]uK#9< \nրaoVl5w,@QU0{c DZvtn(Ry\ʵcjb77L~Jn)/& +endstream endobj 4759 0 obj<> endobj 4760 0 obj<> endobj 4761 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4762 0 obj<>stream +;虹$H%gF_~M!M+i2Z:j2*%|!kPJ9hW R>!J8u8;w)47"uR -9T/I,žvT8%b؁SϪQBlF;1PhH0Υ x,]?h>&G6rLG ә7j.2 œJ۫{NElyLqd=7K)z޻Wwih.T6a ,`!2r+,iB,<@T@5`HCc3wQn5"mD]սBK[„>NJoY<.~ (D𿱓ǀ;XYqqRV +^he)Z}ޤBZBt1.Y\>*QmO xW6gJ@S[ 2CCwy0q&ɳ +U,X!]6uQT Eӌy(w,%@;s(fZ2κ> endobj 4764 0 obj<> endobj 4765 0 obj<> endobj 4766 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 4767 0 obj<>stream +0%iʂ*tPG A^i?)X٭f.s5xzJPKJy8ڇUh +sExƴ#*9淲baQ@5y}@TĺJa}|^x2R+dHIo^S*g3iZ*3j@ .zEI@_į]3+<Ϙ> FA? 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K)lZ6b(I6ewZ>D(='Ոgiؘ0`mN*8Hm:\B\LY4 a1:Qmhp>}| gY_{%Gu@>¿ +4ޓ{K?՜>,PM!N#.e뛇\yDŽ܍DT/Zva=A3~@3,־bs9U$6?`r\ά(b7᝹Z`a "y$-ʮ +?jˬH}Ǿ1c.Y~|dWn0m]VZz#o sy\MFD'|c7mltkRZRjoZ^<oK*F''j"̬+O3yW H2]][1m=kR s9%G/10A;Ꚋ-u{` 4&">c-@\{h~h9;wvV:7{ lKqC#&Mavf&jb0 8'yBO9TU-,+ox*Ng&ɟU1kMBp>MFhVs + +KHʆar mfB,Ǚƕ@LS_=\3!,$O1#ٷMYESR!>,"ʚ Xz> endobj 6134 0 obj<> endobj 6135 0 obj<> endobj 6136 0 obj<> endobj 6137 0 obj<> endobj 6138 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6139 0 obj<>stream + wmd4_Пp0* )AscfV9231&豾~2;P=!7=>=Lv,-:J=m_'|ٱV/&ot,&qt͘f?iDTBp&ɫ. +!وlnK x2fU5D@&v?E0 I2hI72o f1ĽoH8G(G ʤrjvY6j4$d7P@h ܳR\n^= ^v7 +yﺨnf&[݅yY>0>WY0׃^[^G̹mફ55Ћ24U6w}ADqFB&W"1g&oƉcK).e>i+lS)ۿōLZgr312adĚi}Q*Uonpr[A⡮""=Nv;cDmh^}!ylFɆx|};p-3Gx2/s(6M~H̜} ; +a:C 8];t'5;m<,ѴMw~(I nR";:Ts*δ +\2]%J j7_]!MJ5ަ 3Z$35gř!aKU=zwO+VsEH97[۟ ͣYJ֨,o x) 1`VˑWU0e'jF | 75 qQ+<He*\CB & J)EKvx)AG%UU';M dN_ `˜{O}0o*g0Ӏw:i:9 +t[go6}KHq=)6w28&+2^FVWO\;GN jCyOc [Coj3c7_`Цb7A[9?ͽmbj18)`'J7[a> endobj 6141 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6142 0 obj<>stream +3ܪ똂˗.9+.ؠǔ'o<1'ӓSqfG[qLK"L5š~vߘZ?zMS)R(MDإWǩŖѩ iv@7<$8eV$sT;~ESC:h5Up*iik6$v+*$i8%e^ @`MaH~pWŬ\aے%o" 0@-w#<37E,WR?Vx';F0eX*|* KBUhw\ gq9a8 -510p0Qs^~JWd VYqxz~C~D^UDw@Wݹ] q2 +A!xQۇRk>3qt;gGHkݼ¹#(w!@*{a0S+ a^> a~ H$k0{}j ͑v.wR_(\:XE~0.M"!b&SY|sRٻj!@/*9O G}_ǁ{9ܚ.h̆f#/ja&Bk84GԔ@~xF8#*DoahfOiT@ +9onXm_1ncPBng2&MHK}_jQ c-H(~8}o|P ·s}>QO ԭQc+f08ZHvb$GOgZt+8YpU"iS}kcPŅ,kV+KZ!y[ٕ~^vlxA$Z6kQ4^4{Ra.xS!򮫂3YAj7d7Jd,o[Sů¡O8BH`g`-7UfN ~A|CtϹ +7a^~v{k/R#ވF-Y'm$  +-x_S:Y0LcMyޅBI> endobj 6144 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6145 0 obj<>stream +#]$}G\.Tq*gU%g +'- _UJ=AQ>H# @(HtE1+h-7a+x/[֑h.FgwPkŸE/2F+90L.yE:6k׼}J֗c+˗VuJ&wU2a`$3h@4.'-~XOfi\ B ZR 'ʊퟱPˍ*PۑYOϏ+:\ +>uqNǠ4+JΕE.=};%"p"VUr0^k1;ΐB)D/#cP{P8M.@)p*'_Qv [c\VaSYxRn޹ Ww`U jxYDFߖ84)\DiC7cCǮl}DFS'Ɖ&1DT5^;j_D `j$`k%s!U^PG[< +DyHR';TgIFFi +endstream endobj 6146 0 obj<> endobj 6147 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6148 0 obj<>stream +=*)ӀӟݚsK0+fݼJ*'&Yӱ3Z^r+t41(1? ֲ'7 ;3vv؆s:g$`mٳByC)]Vb#$z"zo{;ױɺjvTL1­10ts;@g)Px1#Ft] ՀɌ3=;jޥ6 Jb)jHcTa- EzfQ@ 1xjj ([nf8A$Po^z iɴxR#C_hJK0^^8K2s$rRb}Ro>ogɲwK#(c(gy 9eKya?WH +endstream endobj 6149 0 obj<> endobj 6150 0 obj<> endobj 6151 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6152 0 obj<>stream +/T+3IlxPn =ĉ%b*P vۓpz +>&ڒl6‚PϑH0,{Fm^ R;R5IVQ{PF/a s|b=:Q +W'4Ɠ4Nqں_yyJH~pKF@mC +M[9C;}ȇ{Db[*Lzy *iטAX/Z݁)}cJ΋HO$4yC(~^nTD8ְ^rȑrmx|Wf0Ϊ.X*reP'.VEݥ.C4,a79e0x[iBۃ5:ԑP ©&{x0~\'Ӂ/>G/ĺQy@;Tķ|e*7:'bMP.3˰mPF[ΑO)ߓ|')ӗ{ٜ%+_/3+o.̩"|KĭݛW$yoٴ?Y^LF &P\f©ivA5ΐ<|F|wxVlnIC<'3X݁A_{le¶NڳTpC.:>ΖjQqUuqnab +P__M8}xJzbQAV_#:բlK,׬=;<Ŧ2q@5\8z+mcBL}NϵDǴDưUB9ܗ-*Cs@Z |8UOzHh i9^-`.﵄PAJ(.KK2j2 zV0RDUΖtOڠ"Dg̈[ +pwKxb0 ]`ޗ,2Gg&p]BYz\ԙ +endstream endobj 6153 0 obj<> endobj 6154 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6155 0 obj<>stream +Z3͕1[gb$>h끐 fy5BDFXƺ5x@ռ}mPlu%S3nh -YAN/ +Ir۪Rq1o9IƵkmb(Nl«D~23 2IT }t.@^]1rx09:73 W2oo@~Hm3!D!O2?Z:VLS5&*n|0Dp#Y Vm޾(8qDmW2 L"AHŞU Tze?˓ (A=kS C}*ec%ﰁ]꤫tԦp h^pwl?s塞AynC~ќƣXvw2縓3*nVh$3D2,N3ȿ +~t1`1`Z~ gur> endobj 6157 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6158 0 obj<>stream +ũ>NjȓrkW}=Ǒ{C[SbA/,%;QySG5m36TX_5w{E<~_Ţ'i%n/ߝzl ݬ=#Z c%~L/.aC ChX+ \ތj?v<8%O^zD<#ؘ54sz"Dm{@Y׫ v&{s}܌F٢D+(ZWfV^)tIC+O.}BEd8 %KDQYQ;}v㹿`^48|> -Y9XmttցQ%S|bV;_äY?z tƵIiy> endobj 6160 0 obj<> endobj 6161 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 6162 0 obj<>stream +H̃h mV\m܀_CxQ /GORR=zH 38j(k3/lŹPf-OP53h8@> "JhrPЏcL`N\qr (FTjM~uTY6gc}tsՋ3Bcӓ-#R^,^hBoK=[]udL[AAnA{7g;Trvg1$dSXF5/-6Ki-TV+YfX X C?5DK5N5xI u߂*d`]w|$m.1_xT:Dו8R +w,|6GpgD2V +X.O@4_+B|g>8Avd,%8uℂzC '騥?vpwr +<0G΁tVPBnWsiwc"MŜ['f <`&;#d<47I8q&7èmA/3W} =89!MSScXs"ȩ.9AWH‡wkaײe|~ V?I}PNECaS]qƿ9Az$W0A.p~/|g$+v5\!p5MN@%R_ҭR~IƩ)_L tx4lsoS+~@8[ӢC)_˯0Qk#ov[}EG.4B@FFI%Iգ1p.Al̙̉ld49U#Ebd4/nڳU 53m92qpM' 1rT9F5Tuҽ<; 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ṮiD?%*^߂gvЫʼn[hp^ { c-N-H T1 mZAB H^מ l&|> endobj 2626 0 obj<> endobj 2627 0 obj<> endobj 2628 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2629 0 obj<>stream +Cܩ6I3ḹ[ _ܫyxBa o/,%Lg!ÀЂ6]XQȖ5~ؗZ}=SPc +{< y a5t@zi ɚ(nH nR4X ςAVhm7(pc/.,E/}#uz:h>?G>k/qF9xxUaR+3A{sTwSh|Ū+cWY_G:!tlsJC) +ԁ]*K& (QZXQ=fpW*Sv1o:vg9%:J)<~joo_=) ydYg):!h,u;qj虧Xͼy f<"afdkJ3oa*s?A +P42+NHWu}L{YuݖMk]0= +*nqCPBtAC߶1@R:gKvx✷ه@+U'!cZEyP 2sYWB7 zt@}_Xa_r ?- 5c+)伎dzɋtoi xh؅I9  @AJ +xvnEmpjccM&_:)1\*af)&~S| D&NHy,][t*R^?>e_h56\}V|C/Lް7 Uu/;'%SrgYp +4L9Z#*m+mvۆ41G B" +endstream endobj 2630 0 obj<> endobj 2631 0 obj<> endobj 2632 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2633 0 obj<>stream +wWV1H5a*Vf ٣~=V(1ߨ0>BBtÜfCEnP%S #c+wmC>kc! +C})%l`z kdž@x%2~4uN̏3:W{6$G[/!?=T@v8P ˧^*_<\EI^w2uq Uk?IE8@$.|ПwIwc&İu6\86F wӫZ_;<߁ƐT ߦofcZx/#EUH4<P;!4,o_d+d]P€V+`lRB Gu Wx=1Dv#+V;tD@DvWn)4Gzڢ~xVəP#(n2R3TV叔l}op1#puQ=ǍoxHwo$,?\ +h#B?:u_bwᕯr:[~$;I|9CxMKONvAqjf~N)8^UiQ,Vb3tFfv~#FdWBTq3l^i͑J yb`# EP#{l(ihv ZU o}DX(Z=Q6stK1Qv3Tyd&v+|y- j@ʐ:b*@UNؾ3s&AݘHoR 8uD$ѢFp?Q{XN4w9dL¸]wFҊSJYC +4>{YdӎC +endstream endobj 2634 0 obj<> endobj 2635 0 obj<> endobj 2636 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2637 0 obj<>stream +/ÿz2˚9I E.dMGGM0}u.|ZƤPE([7x^Ft1lF^jCmvZ"Kg]ʟ^斌F@01g< +G $_-kx-Zx1mANv]Ό +$W}3wE@3p +{Q#כke' W?'g˹[F39&U4)2 V}{I~w=zIJm)!7:;RÏ;lzV|2ez[r;Ei [Vt&ZP 3:LA<+4#t+V&'/LkڸUhY[#>og*(V@UUgKE('|_ IՄ[76&նvO$;cI3!:m&t2pA}:Dp.2Bω Podb -Yᴈu&gC8ڮ#)T@yE/k&xm]DP@lJvq}wAS;pZ*zLf Ջ7qVӟ,cJ,Cx 8&3=}u"iѷt끕-f7-)G3ٔ^:˴݃AYiAy_poFi* :#Ŭmw6>/ XE/1"zma"+,:8v\O Av5Rj=*l;3"z^ >2׃I1({<෮2916Z@qޑl#:^\|m7rkoVNjrbB? ) 5O5 O4\; jK&ʘ]g@w-bFn4X/g[Dw(:nDV!lC +endstream endobj 2638 0 obj<> endobj 2639 0 obj<> endobj 2640 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2641 0 obj<>stream +SjڶN?j71$a>m~;۳kU^x@h̬}\âr6;o^*J4a +9ދ g9e5B5ݙfhf `I?jSIuI{N +e h4ﰁ!;H*/D$5NNJK=)WQzT4%>A:4Fsľȱ1s/;ϕJĵN ENJE&݌ xO{-e԰6|R(Ц|ZʌBV5vx3i$٣ Y2@&HuUd$/4s-5[9mjK6/~9PCH^yD]:+46A eAјG0MxŀN%P0*Lr j#r=O#+Ӯ"#Ԭ_\Y :WR6#=8bRb±4$z}.thՄ9ITc>t9Bn džy*JP$vȦ;66v/#`^Q[ۣb5GDfƯө6M$&no瀭y |XFw{@ +%/ je+vOJ_袗]VǠ.KBN/獟:zق_G;A6iہDLo@GGFmJ,%lȧ +3'%"J%/!7$dGinoiR"iAh>uߧ?vcDzi|Rh3\WRZ #ZUsk smr=L4J +}-l;; ;hkz$Dy`9 t8mz$Q. κVTS;т}*GxoO9tHXNP.?J|r@1~ϠB -"G,iɺzHvKeE!2i uJU%厮!ʲV+{wẹVΫ ͈p|EV2'.uOh]C +endstream endobj 2642 0 obj<> endobj 2643 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2644 0 obj<>stream +@J+n~^y@Һ_?Kˌ]Te27K6dDyVSޖyV\˝_7Jn"r9V5zld +YU\V}Pz(! 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ΌK4o)Ћ^cY; 7> endobj 2646 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2647 0 obj<>stream +J^T<[6y1d؝qmFK 7zJ F8KΊYak}[Npηxv +CiÔU>Rͧd Nr;8?0Sz~խ`BBy仇oYx4b3 $Ǘ%6կ'(#f#? :ya\"Y!iAo;gElTb漹 KfxیxMq+#xω 'p94j +hxe̊ia ǯڤo2-xJrxˍΒ51]4Vb}4箺4J%;Me# 5 X~|ݬ&l=jj] XQ4+O[WM]tSh 7E6?tHYI9^rUuL o?&H8{2ql=زVKI~},@z&с+aroLӵ{u[|<&\ epD?6ŔdUYp1(1N|٥4Vu{K?SlT|MsQ!n}TM[2ZYB+4"|qZE"F`k , -C$SpH¼FŇRɃu䷳t51\Y{~@j$uЇf z G{k߼xt\lrR69a{Cu nװ{ 5ȏ*Eebzւdr97w,h|p' +K1~]j[mQWZk۹:M\k=R !hF[qCb  仄UJYx*M|#X՞n>MB3  +tf|0g%.p:ƞyo!FlDJQ_9m0 ~9F}t#y)ɤ6I" +endstream endobj 2648 0 obj<> endobj 2649 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2650 0 obj<>stream +ZRj~[πPI::u*&Kq2I4 [/bv Gz+xk?tۃD7Amݏ\Ý, 잀^4c8n%Fy<4e-X, dw/BOs2r5sUrCk]0EE8Y! $ryn|R' -'xi-d ׇ9L\( "`'=_E r/Gy0qi+{NwuituD?H;T۱Dz!@7Oe"%ΪQU(;_;2aCTԂWg`/o+mH)MSycxH/(>Aʸ&~UN/rP!ȮXސ뻰4-ܳZX.D+ Ip6V;7p>]9oC9"*p񗲹6z /^L a؃6 nZꗨ𵲌KbZ:nR:46/s1/kmȾ?OD `P뱸 +xmNaY3) @$mT ^E `t z@(z㢃 +m),ka`f"S%fWR'nlLzf"aU/ǂ}? +endstream endobj 2651 0 obj<> endobj 2652 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2653 0 obj<>stream +ku`"{{c1ءoQ8O6n =ώm>{on?ncY+GƝiW2NAe!Gʳ% & srNEZ6K]ny0dJA>1x>LbosDUMD (NN~3n%n"޴y((s w5ތЁ, hq0>U@qhg KBbWx&ז=Sx*@SwTT,`hYҧVq%JxU|J~-F6ȫ1>6V!儷L_]$ M&,gW_oZg*3RR7,[4;ړyHI Ί6 +̕(v.{Կwy *<S-2h۳:UF6˧{nkC}!hA8$nM$ Hu@2 muփvu)jhܨ[ ŁAzFwͺm;9׈@"sD]>"֪)*3RgTQ:n\y.OAS1JUú0M )$+?[7ESulᬐuƃŖFcЌ_І[PDrXjۗ2o2<[x4}sdԎ?ԝᨛrq\pܧ:gtLpGnSgX.?Q"Ľ-h~q_[ X 7c eX Us(OMIs55ۃZϢ +endstream endobj 2654 0 obj<> endobj 2655 0 obj<> endobj 2656 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2657 0 obj<>stream +p.!,Ln1)CR}57<Z-xv8?(N(Rm=\j(q WeV#SsLNpBB808DbA;E;G4[?2)Y"ͯ-]4٢ӗ$~-ĕ" +:)1Vz!%*`& ,NeWۻQ}<< ٞ0;J gA*Pyj@OE;} n۔]ͨIj=PyxՅ<[pl JhJêǀqVq+m;ND-0bUQ5u1 b}(yǙgZ^y?KSO!Nm Q 0N׾jD1)o[~C$Ky _KT<`*w|6Tm/ 4G/]Q%WZ]J;Bsߥ)@fj*Ͳpc6Mo/'ClmmBKYx$1^J{Tb,#Ehs-GxF>z-HCTw +CDCIcn1f37 +q]hy:v1ː$:a<qSr(z mEݻf]ioK]YwG(?{]a$B-c[l $"A@3vEB0=җ[/{2 Jh~*FGmIARuV)ZqqڵD')srZ!ֵ<ĦWMk~ߊ)6 4l>EՏzkx|SqiM|!b_! tO.CNSG KFg&a1Po3aOb/&̺䫖`o>r_X2) Hyh,J)S#O6Vy)٭{Gq߳yT]$?:`Halg! +endstream endobj 2658 0 obj<> endobj 2659 0 obj<>/Font<>/ProcSet[/PDF/Text]/ExtGState<>>> endobj 2660 0 obj<>stream +ţvؓ\?6h[:A%A #bOn"غ'1Rj(::Jcy.!™ T?VZUlcutxrRΗY3fQ́w>FKO vDm*Jc๷ѧ'GVj!W$oB [KCk0G%R>k7 8ћ˼"Gڦ+2o)Ԓhȋ#rʍz@Er`Xڧ#O"'//tQh6 +&1X* 'x-ƕTQ'߳/> /?tmF.b1"0~$Ә#hj/no9I(? 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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_MAT_AOS_C_H +#define _VECTORMATH_MAT_AOS_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z }) +#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y }) +#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( &result->col0, &mat->col0 ); + vmathV3Copy( &result->col1, &mat->col1 ); + vmathV3Copy( &result->col2, &mat->col2 ); +} + +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); +} + +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + vec_float4 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + vec_uint4 select_x = _VECTORMATH_MASK_0xF000; + vec_uint4 select_z = _VECTORMATH_MASK_0x00F0; + xyzw_2 = vec_add( unitQuat->vec128, unitQuat->vec128 ); + wwww = vec_splat( unitQuat->vec128, 3 ); + yzxw = vec_perm( unitQuat->vec128, unitQuat->vec128, _VECTORMATH_PERM_YZXW ); + zxyw = vec_perm( unitQuat->vec128, unitQuat->vec128, _VECTORMATH_PERM_ZXYW ); + yzxw_2 = vec_perm( xyzw_2, xyzw_2, _VECTORMATH_PERM_YZXW ); + zxyw_2 = vec_perm( xyzw_2, xyzw_2, _VECTORMATH_PERM_ZXYW ); + tmp0 = vec_madd( yzxw_2, wwww, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_nmsub( yzxw, yzxw_2, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + tmp2 = vec_madd( yzxw, xyzw_2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp0 = vec_madd( zxyw, xyzw_2, tmp0 ); + tmp1 = vec_nmsub( zxyw, zxyw_2, tmp1 ); + tmp2 = vec_nmsub( zxyw_2, wwww, tmp2 ); + tmp3 = vec_sel( tmp0, tmp1, select_x ); + tmp4 = vec_sel( tmp1, tmp2, select_x ); + tmp5 = vec_sel( tmp2, tmp0, select_x ); + result->col0.vec128 = vec_sel( tmp3, tmp2, select_z ); + result->col1.vec128 = vec_sel( tmp4, tmp0, select_z ); + result->col2.vec128 = vec_sel( tmp5, tmp1, select_z ); +} + +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV3GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV3GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV3GetElem( vec, 2 ) ); +} + +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathM3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, mat, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col0 ); +} + +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col1 ); +} + +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col2 ); +} + +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ) +{ + vmathV3Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ) +{ + vmathV3MakeFromElems( result, vmathV3GetElem( &mat->col0, row ), vmathV3GetElem( &mat->col1, row ), vmathV3GetElem( &mat->col2, row ) ); +} + +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, res0, res1, res2; + tmp0 = vec_mergeh( mat->col0.vec128, mat->col2.vec128 ); + tmp1 = vec_mergel( mat->col0.vec128, mat->col2.vec128 ); + res0 = vec_mergeh( tmp0, mat->col1.vec128 ); + res1 = vec_perm( tmp0, mat->col1.vec128, _VECTORMATH_PERM_ZBWX ); + res2 = vec_perm( tmp1, mat->col1.vec128, _VECTORMATH_PERM_XCYX ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp2 = _vmathVfCross( mat->col0.vec128, mat->col1.vec128 ); + tmp0 = _vmathVfCross( mat->col1.vec128, mat->col2.vec128 ); + tmp1 = _vmathVfCross( mat->col2.vec128, mat->col0.vec128 ); + dot = _vmathVfDot3( tmp2, mat->col2.vec128 ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv0 = vec_madd( inv0, invdet, zero ); + inv1 = vec_madd( inv1, invdet, zero ); + inv2 = vec_madd( inv2, invdet, zero ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; +} + +static inline float vmathM3Determinant( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0; + vmathV3Cross( &tmpV3_0, &mat->col0, &mat->col1 ); + return vmathV3Dot( &mat->col2, &tmpV3_0 ); +} + +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Add( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Sub( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Neg( &result->col0, &mat->col0 ); + vmathV3Neg( &result->col1, &mat->col1 ); + vmathV3Neg( &result->col2, &mat->col2 ); +} + +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3AbsPerElem( &result->col0, &mat->col0 ); + vmathV3AbsPerElem( &result->col1, &mat->col1 ); + vmathV3AbsPerElem( &result->col2, &mat->col2 ); +} + +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV3ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV3ScalarMul( &result->col2, &mat->col2, scalar ); +} + +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec->vec128, 0 ); + yyyy = vec_splat( vec->vec128, 1 ); + zzzz = vec_splat( vec->vec128, 2 ); + res = vec_madd( mat->col0.vec128, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( mat->col1.vec128, yyyy, res ); + res = vec_madd( mat->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + VmathMatrix3 tmpResult; + vmathM3MulV3( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM3MulV3( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM3MulV3( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM3Copy( result, &tmpResult ); +} + +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + vmathV3MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV3MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; +} + +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ) +{ + VmathVector4 tmpV4_0; + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + vmathV4MakeFromV3Scalar( &tmpV4_0, radiansXYZ, 0.0f ); + angles = tmpV4_0.vec128; + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + result->col0.vec128 = vec_madd( Z0, Y0, zero ); + result->col1.vec128 = vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ); + result->col2.vec128 = vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ); +} + +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + axis = unitVec->vec128; + sincosf4( (vec_float4){radians,radians,radians,radians}, &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + axisS = vec_madd( axis, s, zero ); + negAxisS = negatef4( axisS ); + tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp0 = vec_sel( tmp0, c, _VECTORMATH_MASK_0xF000 ); + tmp1 = vec_sel( tmp1, c, _VECTORMATH_MASK_0x0F00 ); + tmp2 = vec_sel( tmp2, c, _VECTORMATH_MASK_0x00F0 ); + result->col0.vec128 = vec_madd( vec_madd( axis, xxxx, zero ), oneMinusC, tmp0 ); + result->col1.vec128 = vec_madd( vec_madd( axis, yyyy, zero ), oneMinusC, tmp1 ); + result->col2.vec128 = vec_madd( vec_madd( axis, zzzz, zero ), oneMinusC, tmp2 ); +} + +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + vmathM3MakeFromQ( result, unitQuat ); +} + +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + result->col0.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0xF000 ); + result->col1.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x0F00 ); + result->col2.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x00F0 ); +} + +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); +} + +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ) +{ + vmathV3MulPerElem( &result->col0, &mat->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &mat->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &mat->col2, scaleVec ); +} + +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV3Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV3Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathM3GetRow( &tmpV3_0, mat, 0 ); + vmathV3Print( &tmpV3_0 ); + vmathM3GetRow( &tmpV3_1, mat, 1 ); + vmathV3Print( &tmpV3_1 ); + vmathM3GetRow( &tmpV3_2, mat, 2 ); + vmathV3Print( &tmpV3_2 ); +} + +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM3Print( mat ); +} + +#endif + +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( &result->col0, &mat->col0 ); + vmathV4Copy( &result->col1, &mat->col1 ); + vmathV4Copy( &result->col2, &mat->col2 ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ) +{ + vmathV4MakeFromScalar( &result->col0, scalar ); + vmathV4MakeFromScalar( &result->col1, scalar ); + vmathV4MakeFromScalar( &result->col2, scalar ); + vmathV4MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, &mat->col3, 1.0f ); +} + +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *_col0, const VmathVector4 *_col1, const VmathVector4 *_col2, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col0, _col0 ); + vmathV4Copy( &result->col1, _col1 ); + vmathV4Copy( &result->col2, _col2 ); + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 mat; + vmathM3MakeFromQ( &mat, unitQuat ); + vmathV4MakeFromV3Scalar( &result->col0, &mat.col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat.col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat.col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *_col0 ) +{ + vmathV4Copy( &result->col0, _col0 ); +} + +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *_col1 ) +{ + vmathV4Copy( &result->col1, _col1 ); +} + +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *_col2 ) +{ + vmathV4Copy( &result->col2, _col2 ); +} + +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ) +{ + vmathV4Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ) +{ + vmathV4SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV4SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV4SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV4SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ) +{ + VmathVector4 tmpV3_0; + vmathM4GetCol( &tmpV3_0, result, col ); + vmathV4SetElem( &tmpV3_0, row, val ); + vmathM4SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ) +{ + VmathVector4 tmpV4_0; + vmathM4GetCol( &tmpV4_0, mat, col ); + return vmathV4GetElem( &tmpV4_0, row ); +} + +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col0 ); +} + +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col1 ); +} + +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col2 ); +} + +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col3 ); +} + +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ) +{ + vmathV4Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ) +{ + vmathV4MakeFromElems( result, vmathV4GetElem( &mat->col0, row ), vmathV4GetElem( &mat->col1, row ), vmathV4GetElem( &mat->col2, row ), vmathV4GetElem( &mat->col3, row ) ); +} + +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = vec_mergeh( mat->col0.vec128, mat->col2.vec128 ); + tmp1 = vec_mergeh( mat->col1.vec128, mat->col3.vec128 ); + tmp2 = vec_mergel( mat->col0.vec128, mat->col2.vec128 ); + tmp3 = vec_mergel( mat->col1.vec128, mat->col3.vec128 ); + res0 = vec_mergeh( tmp0, tmp1 ); + res1 = vec_mergel( tmp0, tmp1 ); + res2 = vec_mergeh( tmp2, tmp3 ); + res3 = vec_mergel( tmp2, tmp3 ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; + result->col3.vec128 = res3; +} + +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vector float in0, in1, in2, in3; + vector float tmp0, tmp1, tmp2, tmp3; + vector float cof0, cof1, cof2, cof3; + vector float t0, t1, t2, t3; + vector float t01, t02, t03, t12, t23; + vector float t1r, t2r; + vector float t01r, t02r, t03r, t12r, t23r; + vector float t1r3, t1r3r; + vector float det, det0, det1, det2, det3, invdet; + vector float vzero = (vector float){0.0}; + in0 = mat->col0.vec128; + in1 = mat->col1.vec128; + in2 = mat->col2.vec128; + in3 = mat->col3.vec128; + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = vec_perm(in0, in1, _VECTORMATH_PERM_XAZC); /* A E C G */ + tmp1 = vec_perm(in2, in3, _VECTORMATH_PERM_XAZC); /* I M K O */ + tmp2 = vec_perm(in0, in1, _VECTORMATH_PERM_YBWD); /* B F D H */ + tmp3 = vec_perm(in2, in3, _VECTORMATH_PERM_YBWD); /* J N L P */ + t0 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_XYAB); /* A E I M */ + t1 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_XYAB); /* J N B F */ + t2 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_ZWCD); /* C G K O */ + t3 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = vec_madd(t2, t3, vzero); /* CL GP KD OH */ + t23 = vec_perm(t23, t23, _VECTORMATH_PERM_YXWZ); /* GP CL OH KD */ + cof0 = vec_nmsub(t1, t23, vzero); /* -(JGP NCL FOH BKD) */ + cof1 = vec_nmsub(t0, t23, vzero); /* -(AGP ECL IOH MKD) */ + t23r = vec_sld(t23, t23, 8); /* OH KD GP CL */ + cof0 = vec_madd(t1, t23r, cof0); /* JOH NKD BGP FCL + cof0 */ + cof1 = vec_madd(t0, t23r, cof1); /* AOH EKD IGP MCL + cof1 */ + cof1 = vec_sld(cof1, cof1, 8); /* IGP MCL AOH EKD - IOH MKD AGP ECL */ + t12 = vec_madd(t1, t2, vzero); /* JC NG BK FO */ + t12 = vec_perm(t12, t12, _VECTORMATH_PERM_YXWZ); /* NG JC FO BK */ + cof0 = vec_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + cof3 = vec_madd(t0, t12, vzero); /* ANG EJC IFO MBK */ + t12r = vec_sld(t12, t12, 8); /* FO BK NG JC */ + cof0 = vec_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + cof3 = vec_nmsub(t0, t12r, cof3); /* cof3 - AFO EBK ING MJC */ + cof3 = vec_sld(cof3, cof3, 8); /* ING MJC AFO EBK - IFO MBK ANG EJC */ + t1r = vec_sld(t1, t1, 8); /* B F J N */ + t2r = vec_sld(t2, t2, 8); /* K O C G */ + t1r3 = vec_madd(t1r, t3, vzero); /* BL FP JD NH */ + t1r3 = vec_perm(t1r3, t1r3, _VECTORMATH_PERM_YXWZ); /* FP BL NH JD */ + cof0 = vec_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + cof2 = vec_madd(t0, t1r3, vzero); /* AFP EBL INH MJD */ + t1r3r = vec_sld(t1r3, t1r3, 8); /* NH JD FP BL */ + cof0 = vec_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + cof2 = vec_nmsub(t0, t1r3r, cof2); /* cof2 - ANH EJD IFP MBL */ + cof2 = vec_sld(cof2, cof2, 8); /* IFP MBL ANH EJD - INH MJD AFP EBL */ + t01 = vec_madd(t0, t1, vzero); /* AJ EN IB MF */ + t01 = vec_perm(t01, t01, _VECTORMATH_PERM_YXWZ); /* EN AJ MF IB */ + cof2 = vec_nmsub(t3, t01, cof2); /* cof2 - LEN PAJ DMF HIB */ + cof3 = vec_madd(t2r, t01, cof3); /* KEN OAJ CMF GIB + cof3 */ + t01r = vec_sld(t01, t01, 8); /* MF IB EN AJ */ + cof2 = vec_madd(t3, t01r, cof2); /* LMF PIB DEN HAJ + cof2 */ + cof3 = vec_nmsub(t2r, t01r, cof3); /* cof3 - KMF OIB CEN GAJ */ + t03 = vec_madd(t0, t3, vzero); /* AL EP ID MH */ + t03 = vec_perm(t03, t03, _VECTORMATH_PERM_YXWZ); /* EP AL MH ID */ + cof1 = vec_nmsub(t2r, t03, cof1); /* cof1 - KEP OAL CMH GID */ + cof2 = vec_madd(t1, t03, cof2); /* JEP NAL BMH FID + cof2 */ + t03r = vec_sld(t03, t03, 8); /* MH ID EP AL */ + cof1 = vec_madd(t2r, t03r, cof1); /* KMH OID CEP GAL + cof1 */ + cof2 = vec_nmsub(t1, t03r, cof2); /* cof2 - JMH NID BEP FAL */ + t02 = vec_madd(t0, t2r, vzero); /* AK EO IC MG */ + t02 = vec_perm(t02, t02, _VECTORMATH_PERM_YXWZ); /* E0 AK MG IC */ + cof1 = vec_madd(t3, t02, cof1); /* LEO PAK DMG HIC + cof1 */ + cof3 = vec_nmsub(t1, t02, cof3); /* cof3 - JEO NAK BMG FIC */ + t02r = vec_sld(t02, t02, 8); /* MG IC EO AK */ + cof1 = vec_nmsub(t3, t02r, cof1); /* cof1 - LMG PIC DEO HAK */ + cof3 = vec_madd(t1, t02r, cof3); /* JMG NIC BEO FAK + cof3 */ + /* Compute the determinant of the matrix + * + * det = sum_across(t0 * cof0); + * + * We perform a sum across the entire vector so that + * we don't have to splat the result when multiplying the + * cofactors by the inverse of the determinant. + */ + det = vec_madd(t0, cof0, vzero); + det0 = vec_splat(det, 0); + det1 = vec_splat(det, 1); + det2 = vec_splat(det, 2); + det3 = vec_splat(det, 3); + det = vec_add(det0, det1); + det2 = vec_add(det2, det3); + det = vec_add(det, det2); + /* Compute the reciprocal of the determinant. + */ + invdet = recipf4(det); + /* Multiply the cofactors by the reciprocal of the determinant. + */ + result->col0.vec128 = vec_madd(cof0, invdet, vzero); + result->col1.vec128 = vec_madd(cof1, invdet, vzero); + result->col2.vec128 = vec_madd(cof2, invdet, vzero); + result->col3.vec128 = vec_madd(cof3, invdet, vzero); +} + +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3Inverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3OrthoInverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline float vmathM4Determinant( const VmathMatrix4 *mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vector float in0, in1, in2, in3; + vector float tmp0, tmp1, tmp2, tmp3; + vector float cof0; + vector float t0, t1, t2, t3; + vector float t12, t23; + vector float t1r, t2r; + vector float t12r, t23r; + vector float t1r3, t1r3r; + vector float vzero = (vector float){0.0}; + union { vec_float4 v; float s[4]; } tmp; + in0 = mat->col0.vec128; + in1 = mat->col1.vec128; + in2 = mat->col2.vec128; + in3 = mat->col3.vec128; + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = vec_perm(in0, in1, _VECTORMATH_PERM_XAZC); /* A E C G */ + tmp1 = vec_perm(in2, in3, _VECTORMATH_PERM_XAZC); /* I M K O */ + tmp2 = vec_perm(in0, in1, _VECTORMATH_PERM_YBWD); /* B F D H */ + tmp3 = vec_perm(in2, in3, _VECTORMATH_PERM_YBWD); /* J N L P */ + t0 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_XYAB); /* A E I M */ + t1 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_XYAB); /* J N B F */ + t2 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_ZWCD); /* C G K O */ + t3 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = vec_madd(t2, t3, vzero); /* CL GP KD OH */ + t23 = vec_perm(t23, t23, _VECTORMATH_PERM_YXWZ); /* GP CL OH KD */ + cof0 = vec_nmsub(t1, t23, vzero); /* -(JGP NCL FOH BKD) */ + t23r = vec_sld(t23, t23, 8); /* OH KD GP CL */ + cof0 = vec_madd(t1, t23r, cof0); /* JOH NKD BGP FCL + cof0 */ + t12 = vec_madd(t1, t2, vzero); /* JC NG BK FO */ + t12 = vec_perm(t12, t12, _VECTORMATH_PERM_YXWZ); /* NG JC FO BK */ + cof0 = vec_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + t12r = vec_sld(t12, t12, 8); /* FO BK NG JC */ + cof0 = vec_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + t1r = vec_sld(t1, t1, 8); /* B F J N */ + t2r = vec_sld(t2, t2, 8); /* K O C G */ + t1r3 = vec_madd(t1r, t3, vzero); /* BL FP JD NH */ + t1r3 = vec_perm(t1r3, t1r3, _VECTORMATH_PERM_YXWZ); /* FP BL NH JD */ + cof0 = vec_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + t1r3r = vec_sld(t1r3, t1r3, 8); /* NH JD FP BL */ + cof0 = vec_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + tmp.v = _vmathVfDot4(t0,cof0); + return tmp.s[0]; +} + +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Add( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Add( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Sub( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Sub( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Neg( &result->col0, &mat->col0 ); + vmathV4Neg( &result->col1, &mat->col1 ); + vmathV4Neg( &result->col2, &mat->col2 ); + vmathV4Neg( &result->col3, &mat->col3 ); +} + +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4AbsPerElem( &result->col0, &mat->col0 ); + vmathV4AbsPerElem( &result->col1, &mat->col1 ); + vmathV4AbsPerElem( &result->col2, &mat->col2 ); + vmathV4AbsPerElem( &result->col3, &mat->col3 ); +} + +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV4ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV4ScalarMul( &result->col2, &mat->col2, scalar ); + vmathV4ScalarMul( &result->col3, &mat->col3, scalar ); +} + +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz, wwww; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( vec->vec128, 0 ); + yyyy = vec_splat( vec->vec128, 1 ); + zzzz = vec_splat( vec->vec128, 2 ); + wwww = vec_splat( vec->vec128, 3 ); + tmp0 = vec_madd( mat->col0.vec128, xxxx, zero ); + tmp1 = vec_madd( mat->col1.vec128, yyyy, zero ); + tmp0 = vec_madd( mat->col2.vec128, zzzz, tmp0 ); + tmp1 = vec_madd( mat->col3.vec128, wwww, tmp1 ); + res = vec_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec->vec128, 0 ); + yyyy = vec_splat( vec->vec128, 1 ); + zzzz = vec_splat( vec->vec128, 2 ); + res = vec_madd( mat->col0.vec128, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( mat->col1.vec128, yyyy, res ); + res = vec_madd( mat->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( pnt->vec128, 0 ); + yyyy = vec_splat( pnt->vec128, 1 ); + zzzz = vec_splat( pnt->vec128, 2 ); + tmp0 = vec_madd( mat->col0.vec128, xxxx, zero ); + tmp1 = vec_madd( mat->col1.vec128, yyyy, zero ); + tmp0 = vec_madd( mat->col2.vec128, zzzz, tmp0 ); + tmp1 = vec_add( mat->col3.vec128, tmp1 ); + res = vec_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + VmathMatrix4 tmpResult; + vmathM4MulV4( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM4MulV4( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM4MulV4( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM4MulV4( &tmpResult.col3, mat0, &mat1->col3 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm1 ) +{ + VmathMatrix4 tmpResult; + VmathPoint3 tmpP3_0; + vmathM4MulV3( &tmpResult.col0, mat, &tfrm1->col0 ); + vmathM4MulV3( &tmpResult.col1, mat, &tfrm1->col1 ); + vmathM4MulV3( &tmpResult.col2, mat, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathM4MulP3( &tmpResult.col3, mat, &tmpP3_0 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4MulPerElem( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ) +{ + vmathV4SetXYZ( &result->col0, &mat3->col0 ); + vmathV4SetXYZ( &result->col1, &mat3->col1 ); + vmathV4SetXYZ( &result->col2, &mat3->col2 ); +} + +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( &result->col0, &mat->col0 ); + vmathV4GetXYZ( &result->col1, &mat->col1 ); + vmathV4GetXYZ( &result->col2, &mat->col2 ); +} + +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4SetXYZ( &result->col3, translateVec ); +} + +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( result, &mat->col3 ); +} + +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + vmathV4MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV4MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ) +{ + VmathVector4 tmpV4_0; + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + vmathV4MakeFromV3Scalar( &tmpV4_0, radiansXYZ, 0.0f ); + angles = tmpV4_0.vec128; + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + result->col0.vec128 = vec_madd( Z0, Y0, zero ); + result->col1.vec128 = vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ); + result->col2.vec128 = vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2, zeroW; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + axis = unitVec->vec128; + sincosf4( (vec_float4){radians,radians,radians,radians}, &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + axisS = vec_madd( axis, s, zero ); + negAxisS = negatef4( axisS ); + tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp0 = vec_sel( tmp0, c, _VECTORMATH_MASK_0xF000 ); + tmp1 = vec_sel( tmp1, c, _VECTORMATH_MASK_0x0F00 ); + tmp2 = vec_sel( tmp2, c, _VECTORMATH_MASK_0x00F0 ); + zeroW = (vec_float4)_VECTORMATH_MASK_0x000F; + axis = vec_andc( axis, zeroW ); + tmp0 = vec_andc( tmp0, zeroW ); + tmp1 = vec_andc( tmp1, zeroW ); + tmp2 = vec_andc( tmp2, zeroW ); + result->col0.vec128 = vec_madd( vec_madd( axis, xxxx, zero ), oneMinusC, tmp0 ); + result->col1.vec128 = vec_madd( vec_madd( axis, yyyy, zero ), oneMinusC, tmp1 ); + result->col2.vec128 = vec_madd( vec_madd( axis, zzzz, zero ), oneMinusC, tmp2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ) +{ + VmathTransform3 tmpT3_0; + vmathT3MakeRotationQ( &tmpT3_0, unitQuat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + result->col0.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0xF000 ); + result->col1.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x0F00 ); + result->col2.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x00F0 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV4ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV4ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ) +{ + VmathVector4 scale4; + vmathV4MakeFromV3Scalar( &scale4, scaleVec, 1.0f ); + vmathV4MulPerElem( &result->col0, &mat->col0, &scale4 ); + vmathV4MulPerElem( &result->col1, &mat->col1, &scale4 ); + vmathV4MulPerElem( &result->col2, &mat->col2, &scale4 ); + vmathV4MulPerElem( &result->col3, &mat->col3, &scale4 ); +} + +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ) +{ + VmathMatrix4 m4EyeFrame; + VmathVector3 v3X, v3Y, v3Z, tmpV3_0, tmpV3_1; + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathV3Normalize( &v3Y, upVec ); + vmathP3Sub( &tmpV3_0, eyePos, lookAtPos ); + vmathV3Normalize( &v3Z, &tmpV3_0 ); + vmathV3Cross( &tmpV3_1, &v3Y, &v3Z ); + vmathV3Normalize( &v3X, &tmpV3_1 ); + vmathV3Cross( &v3Y, &v3Z, &v3X ); + vmathV4MakeFromV3( &tmpV4_0, &v3X ); + vmathV4MakeFromV3( &tmpV4_1, &v3Y ); + vmathV4MakeFromV3( &tmpV4_2, &v3Z ); + vmathV4MakeFromP3( &tmpV4_3, eyePos ); + vmathM4MakeFromCols( &m4EyeFrame, &tmpV4_0, &tmpV4_1, &tmpV4_2, &tmpV4_3 ); + vmathM4OrthoInverse( result, &m4EyeFrame ); +} + +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + vec_float4 zero, col0, col1, col2, col3; + union { vec_float4 v; float s[4]; } tmp; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp.v = zero; + tmp.s[0] = f / aspect; + col0 = tmp.v; + tmp.v = zero; + tmp.s[1] = f; + col1 = tmp.v; + tmp.v = zero; + tmp.s[2] = ( zNear + zFar ) * rangeInv; + tmp.s[3] = -1.0f; + col2 = tmp.v; + tmp.v = zero; + tmp.s[2] = zNear * zFar * rangeInv * 2.0f; + col3 = tmp.v; + result->col0.vec128 = col0; + result->col1.vec128 = col1; + result->col2.vec128 = col2; + result->col3.vec128 = col3; +} + +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff; + vec_float4 diagonal, column, near2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + union { vec_float4 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = vec_splat( n.v, 0 ); + near2 = vec_add( near2, near2 ); + diagonal = vec_madd( near2, inv_diff, zero ); + column = vec_madd( sum, inv_diff, zero ); + result->col0.vec128 = vec_sel( zero, diagonal, _VECTORMATH_MASK_0xF000 ); + result->col1.vec128 = vec_sel( zero, diagonal, _VECTORMATH_MASK_0x0F00 ); + result->col2.vec128 = vec_sel( column, ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}), _VECTORMATH_MASK_0x000F ); + result->col3.vec128 = vec_sel( zero, vec_madd( diagonal, vec_splat( f.v, 0 ), zero ), _VECTORMATH_MASK_0x00F0 ); +} + +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff, neg_inv_diff; + vec_float4 diagonal, column; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + union { vec_float4 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = vec_add( inv_diff, inv_diff ); + column = vec_madd( sum, vec_sel( neg_inv_diff, inv_diff, _VECTORMATH_MASK_0x00F0 ), zero ); + result->col0.vec128 = vec_sel( zero, diagonal, _VECTORMATH_MASK_0xF000 ); + result->col1.vec128 = vec_sel( zero, diagonal, _VECTORMATH_MASK_0x0F00 ); + result->col2.vec128 = vec_sel( zero, diagonal, _VECTORMATH_MASK_0x00F0 ); + result->col3.vec128 = vec_sel( column, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), _VECTORMATH_MASK_0x000F ); +} + +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ) +{ + vmathV4Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV4Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV4Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); + vmathV4Select( &result->col3, &mat0->col3, &mat1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print( const VmathMatrix4 *mat ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathM4GetRow( &tmpV4_0, mat, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathM4GetRow( &tmpV4_1, mat, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathM4GetRow( &tmpV4_2, mat, 2 ); + vmathV4Print( &tmpV4_2 ); + vmathM4GetRow( &tmpV4_3, mat, 3 ); + vmathV4Print( &tmpV4_3 ); +} + +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM4Print( mat ); +} + +#endif + +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); + vmathV3MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ) +{ + vmathT3SetUpper3x3( result, tfrm ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 tmpM3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathT3SetUpper3x3( result, &tmpM3_0 ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV3SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathT3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, tfrm, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col0 ); +} + +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col1 ); +} + +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col2 ); +} + +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ) +{ + vmathV3Copy( result, (&tfrm->col0 + col) ); +} + +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ) +{ + vmathV4MakeFromElems( result, vmathV3GetElem( &tfrm->col0, row ), vmathV3GetElem( &tfrm->col1, row ), vmathV3GetElem( &tfrm->col2, row ), vmathV3GetElem( &tfrm->col3, row ) ); +} + +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp2 = _vmathVfCross( tfrm->col0.vec128, tfrm->col1.vec128 ); + tmp0 = _vmathVfCross( tfrm->col1.vec128, tfrm->col2.vec128 ); + tmp1 = _vmathVfCross( tfrm->col2.vec128, tfrm->col0.vec128 ); + inv3 = negatef4( tfrm->col3.vec128 ); + dot = _vmathVfDot3( tmp2, tfrm->col2.vec128 ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + xxxx = vec_splat( inv3, 0 ); + inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_madd( inv0, xxxx, zero ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + inv0 = vec_madd( inv0, invdet, zero ); + inv1 = vec_madd( inv1, invdet, zero ); + inv2 = vec_madd( inv2, invdet, zero ); + inv3 = vec_madd( inv3, invdet, zero ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; + result->col3.vec128 = inv3; +} + +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1; + vec_float4 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( tfrm->col0.vec128, tfrm->col2.vec128 ); + tmp1 = vec_mergel( tfrm->col0.vec128, tfrm->col2.vec128 ); + inv3 = negatef4( tfrm->col3.vec128 ); + inv0 = vec_mergeh( tmp0, tfrm->col1.vec128 ); + xxxx = vec_splat( inv3, 0 ); + inv1 = vec_perm( tmp0, tfrm->col1.vec128, _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp1, tfrm->col1.vec128, _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_madd( inv0, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; + result->col3.vec128 = inv3; +} + +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3AbsPerElem( &result->col0, &tfrm->col0 ); + vmathV3AbsPerElem( &result->col1, &tfrm->col1 ); + vmathV3AbsPerElem( &result->col2, &tfrm->col2 ); + vmathV3AbsPerElem( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec->vec128, 0 ); + yyyy = vec_splat( vec->vec128, 1 ); + zzzz = vec_splat( vec->vec128, 2 ); + res = vec_madd( tfrm->col0.vec128, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( tfrm->col1.vec128, yyyy, res ); + res = vec_madd( tfrm->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( pnt->vec128, 0 ); + yyyy = vec_splat( pnt->vec128, 1 ); + zzzz = vec_splat( pnt->vec128, 2 ); + tmp0 = vec_madd( tfrm->col0.vec128, xxxx, zero ); + tmp1 = vec_madd( tfrm->col1.vec128, yyyy, zero ); + tmp0 = vec_madd( tfrm->col2.vec128, zzzz, tmp0 ); + tmp1 = vec_add( tfrm->col3.vec128, tmp1 ); + res = vec_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + VmathTransform3 tmpResult; + VmathPoint3 tmpP3_0, tmpP3_1; + vmathT3MulV3( &tmpResult.col0, tfrm0, &tfrm1->col0 ); + vmathT3MulV3( &tmpResult.col1, tfrm0, &tfrm1->col1 ); + vmathT3MulV3( &tmpResult.col2, tfrm0, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathT3MulP3( &tmpP3_1, tfrm0, &tmpP3_0 ); + vmathV3MakeFromP3( &tmpResult.col3, &tmpP3_1 ); + vmathT3Copy( result, &tmpResult ); +} + +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + vmathV3MulPerElem( &result->col0, &tfrm0->col0, &tfrm1->col0 ); + vmathV3MulPerElem( &result->col1, &tfrm0->col1, &tfrm1->col1 ); + vmathV3MulPerElem( &result->col2, &tfrm0->col2, &tfrm1->col2 ); + vmathV3MulPerElem( &result->col3, &tfrm0->col3, &tfrm1->col3 ); +} + +static inline void vmathT3MakeIdentity( VmathTransform3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); +} + +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ) +{ + vmathM3MakeFromCols( result, &tfrm->col0, &tfrm->col1, &tfrm->col2 ); +} + +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + vmathV3MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV3MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( _vmathVfSplatScalar(radians), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ) +{ + VmathVector4 tmpV4_0; + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + vmathV4MakeFromV3Scalar( &tmpV4_0, radiansXYZ, 0.0f ); + angles = tmpV4_0.vec128; + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + result->col0.vec128 = vec_madd( Z0, Y0, zero ); + result->col1.vec128 = vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ); + result->col2.vec128 = vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeRotationAxis( &tmpM3_0, radians, unitVec ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + result->col0.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0xF000 ); + result->col1.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x0F00 ); + result->col2.vec128 = vec_sel( zero, scaleVec->vec128, _VECTORMATH_MASK_0x00F0 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &tfrm->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &tfrm->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &tfrm->col2, vmathV3GetZ( scaleVec ) ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ) +{ + vmathV3MulPerElem( &result->col0, &tfrm->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &tfrm->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &tfrm->col2, scaleVec ); + vmathV3MulPerElem( &result->col3, &tfrm->col3, scaleVec ); +} + +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &tfrm0->col0, &tfrm1->col0, select1 ); + vmathV3Select( &result->col1, &tfrm0->col1, &tfrm1->col1, select1 ); + vmathV3Select( &result->col2, &tfrm0->col2, &tfrm1->col2, select1 ); + vmathV3Select( &result->col3, &tfrm0->col3, &tfrm1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print( const VmathTransform3 *tfrm ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2; + vmathT3GetRow( &tmpV4_0, tfrm, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathT3GetRow( &tmpV4_1, tfrm, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathT3GetRow( &tmpV4_2, tfrm, 2 ); + vmathV4Print( &tmpV4_2 ); +} + +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ) +{ + printf("%s:\n", name); + vmathT3Print( tfrm ); +} + +#endif + +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *tfrm ) +{ + vec_float4 res; + vec_float4 col0, col1, col2; + vec_float4 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + vec_float4 zy_xz_yx, yz_zx_xy, sum, diff; + vec_float4 radicand, invSqrt, scale; + vec_float4 res0, res1, res2, res3; + vec_float4 xx, yy, zz; + vec_uint4 select_x = _VECTORMATH_MASK_0xF000; + vec_uint4 select_y = _VECTORMATH_MASK_0x0F00; + vec_uint4 select_z = _VECTORMATH_MASK_0x00F0; + vec_uint4 select_w = _VECTORMATH_MASK_0x000F; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + + col0 = tfrm->col0.vec128; + col1 = tfrm->col1.vec128; + col2 = tfrm->col2.vec128; + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = vec_sel( col0, col1, select_y ); + xx_yy_zz_xx = vec_perm( xx_yy, col2, _VECTORMATH_PERM_XYCX ); + yy_zz_xx_yy = vec_perm( xx_yy, col2, _VECTORMATH_PERM_YCXY ); + zz_xx_yy_zz = vec_perm( xx_yy, col2, _VECTORMATH_PERM_CXYC ); + + diagSum = vec_add( vec_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = vec_sub( vec_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = vec_add( vec_sel( diagDiff, diagSum, select_w ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + invSqrt = rsqrtf4( radicand ); + + zy_xz_yx = vec_sel( col0, col1, select_z ); + zy_xz_yx = vec_perm( zy_xz_yx, col2, _VECTORMATH_PERM_ZAYX ); + yz_zx_xy = vec_sel( col0, col1, select_x ); + yz_zx_xy = vec_perm( yz_zx_xy, col2, _VECTORMATH_PERM_BZXX ); + + sum = vec_add( zy_xz_yx, yz_zx_xy ); + diff = vec_sub( zy_xz_yx, yz_zx_xy ); + + scale = vec_madd( invSqrt, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), zero ); + res0 = vec_perm( sum, diff, _VECTORMATH_PERM_XZYA ); + res1 = vec_perm( sum, diff, _VECTORMATH_PERM_ZXXB ); + res2 = vec_perm( sum, diff, _VECTORMATH_PERM_YXXC ); + res3 = diff; + res0 = vec_sel( res0, radicand, select_x ); + res1 = vec_sel( res1, radicand, select_y ); + res2 = vec_sel( res2, radicand, select_z ); + res3 = vec_sel( res3, radicand, select_w ); + res0 = vec_madd( res0, vec_splat( scale, 0 ), zero ); + res1 = vec_madd( res1, vec_splat( scale, 1 ), zero ); + res2 = vec_madd( res2, vec_splat( scale, 2 ), zero ); + res3 = vec_madd( res3, vec_splat( scale, 3 ), zero ); + + /* determine case and select answer */ + + xx = vec_splat( col0, 0 ); + yy = vec_splat( col1, 1 ); + zz = vec_splat( col2, 2 ); + res = vec_sel( res0, res1, vec_cmpgt( yy, xx ) ); + res = vec_sel( res, res2, vec_and( vec_cmpgt( zz, xx ), vec_cmpgt( zz, yy ) ) ); + res = vec_sel( res, res3, vec_cmpgt( vec_splat( diagSum, 0 ), zero ) ); + result->vec128 = res; +} + +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *tfrm0, const VmathVector3 *tfrm1 ) +{ + vmathV3ScalarMul( &result->col0, tfrm0, vmathV3GetX( tfrm1 ) ); + vmathV3ScalarMul( &result->col1, tfrm0, vmathV3GetY( tfrm1 ) ); + vmathV3ScalarMul( &result->col2, tfrm0, vmathV3GetZ( tfrm1 ) ); +} + +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *tfrm0, const VmathVector4 *tfrm1 ) +{ + vmathV4ScalarMul( &result->col0, tfrm0, vmathV4GetX( tfrm1 ) ); + vmathV4ScalarMul( &result->col1, tfrm0, vmathV4GetY( tfrm1 ) ); + vmathV4ScalarMul( &result->col2, tfrm0, vmathV4GetZ( tfrm1 ) ); + vmathV4ScalarMul( &result->col3, tfrm0, vmathV4GetW( tfrm1 ) ); +} + +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, mcol0, mcol1, mcol2, res; + vec_float4 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( mat->col0.vec128, mat->col2.vec128 ); + tmp1 = vec_mergel( mat->col0.vec128, mat->col2.vec128 ); + xxxx = vec_splat( vec->vec128, 0 ); + mcol0 = vec_mergeh( tmp0, mat->col1.vec128 ); + mcol1 = vec_perm( tmp0, mat->col1.vec128, _VECTORMATH_PERM_ZBWX ); + mcol2 = vec_perm( tmp1, mat->col1.vec128, _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( vec->vec128, 1 ); + res = vec_madd( mcol0, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zzzz = vec_splat( vec->vec128, 2 ); + res = vec_madd( mcol1, yyyy, res ); + res = vec_madd( mcol2, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ) +{ + vec_float4 neg, res0, res1, res2; + neg = negatef4( vec->vec128 ); + res0 = vec_perm( vec->vec128, neg, _VECTORMATH_PERM_XZBX ); + res1 = vec_perm( vec->vec128, neg, _VECTORMATH_PERM_CXXX ); + res2 = vec_perm( vec->vec128, neg, _VECTORMATH_PERM_YAXX ); + res0 = vec_andc( res0, (vec_float4)_VECTORMATH_MASK_0xF000 ); + res1 = vec_andc( res1, (vec_float4)_VECTORMATH_MASK_0x0F00 ); + res2 = vec_andc( res2, (vec_float4)_VECTORMATH_MASK_0x00F0 ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathV3Cross( &tmpV3_0, vec, &mat->col0 ); + vmathV3Cross( &tmpV3_1, vec, &mat->col1 ); + vmathV3Cross( &tmpV3_2, vec, &mat->col2 ); + vmathM3MakeFromCols( result, &tmpV3_0, &tmpV3_1, &tmpV3_2 ); +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_aos_v.h new file mode 100644 index 000000000..47c683abe --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_aos_v.h @@ -0,0 +1,1026 @@ +/* + 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_MAT_AOS_V_C_H +#define _VECTORMATH_MAT_AOS_V_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z }) +#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y }) +#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ) +{ + VmathMatrix3 result; + vmathM3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeFromQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2 ) +{ + VmathMatrix3 result; + vmathM3MakeFromCols(&result, &_col0, &_col1, &_col2); + return result; +} + +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 _col0 ) +{ + vmathM3SetCol0(result, &_col0); +} + +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 _col1 ) +{ + vmathM3SetCol1(result, &_col1); +} + +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 _col2 ) +{ + vmathM3SetCol2(result, &_col2); +} + +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ) +{ + vmathM3SetCol(result, col, &vec); +} + +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ) +{ + vmathM3SetRow(result, row, &vec); +} + +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ) +{ + vmathM3SetElem(result, col, row, val); +} + +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ) +{ + return vmathM3GetElem(&mat, col, row); +} + +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol0(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol1(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol2(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ) +{ + VmathVector3 result; + vmathM3GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ) +{ + VmathVector3 result; + vmathM3GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Inverse(&result, &mat); + return result; +} + +static inline float vmathM3Determinant_V( VmathMatrix3 mat ) +{ + return vmathM3Determinant(&mat); +} + +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Neg(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ) +{ + VmathMatrix3 result; + vmathM3ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathM3MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MakeIdentity_V( ) +{ + VmathMatrix3 result; + vmathM3MakeIdentity(&result); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix3 result; + vmathM3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ) +{ + VmathMatrix3 result; + vmathM3Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print_V( VmathMatrix3 mat ) +{ + vmathM3Print(&mat); +} + +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ) +{ + vmathM3Prints(&mat, name); +} + +#endif + +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ) +{ + VmathMatrix4 result; + vmathM4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ) +{ + VmathMatrix4 result; + vmathM4MakeFromT3(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 _col0, VmathVector4 _col1, VmathVector4 _col2, VmathVector4 _col3 ) +{ + VmathMatrix4 result; + vmathM4MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromM3V3(&result, &mat, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 _col0 ) +{ + vmathM4SetCol0(result, &_col0); +} + +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 _col1 ) +{ + vmathM4SetCol1(result, &_col1); +} + +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 _col2 ) +{ + vmathM4SetCol2(result, &_col2); +} + +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 _col3 ) +{ + vmathM4SetCol3(result, &_col3); +} + +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ) +{ + vmathM4SetCol(result, col, &vec); +} + +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ) +{ + vmathM4SetRow(result, row, &vec); +} + +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ) +{ + vmathM4SetElem(result, col, row, val); +} + +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ) +{ + return vmathM4GetElem(&mat, col, row); +} + +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol0(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol1(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol2(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol3(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ) +{ + VmathVector4 result; + vmathM4GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ) +{ + VmathVector4 result; + vmathM4GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Inverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AffineInverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4OrthoInverse(&result, &mat); + return result; +} + +static inline float vmathM4Determinant_V( VmathMatrix4 mat ) +{ + return vmathM4Determinant(&mat); +} + +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Neg(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ) +{ + VmathMatrix4 result; + vmathM4ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ) +{ + VmathVector4 result; + vmathM4MulV4(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ) +{ + VmathVector4 result; + vmathM4MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathM4MulP3(&result, &mat, &pnt); + return result; +} + +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm1 ) +{ + VmathMatrix4 result; + vmathM4MulT3(&result, &mat, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MakeIdentity_V( ) +{ + VmathMatrix4 result; + vmathM4MakeIdentity(&result); + return result; +} + +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ) +{ + vmathM4SetUpper3x3(result, &mat3); +} + +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ) +{ + VmathMatrix3 result; + vmathM4GetUpper3x3(&result, &mat); + return result; +} + +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ) +{ + vmathM4SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ) +{ + VmathVector3 result; + vmathM4GetTranslation(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix4 result; + vmathM4MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix4 result; + vmathM4MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ) +{ + VmathMatrix4 result; + vmathM4MakeLookAt(&result, &eyePos, &lookAtPos, &upVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakePerspective(&result, fovyRadians, aspect, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeFrustum(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeOrthographic(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ) +{ + VmathMatrix4 result; + vmathM4Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print_V( VmathMatrix4 mat ) +{ + vmathM4Print(&mat); +} + +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ) +{ + vmathM4Prints(&mat, name); +} + +#endif + +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ) +{ + VmathTransform3 result; + vmathT3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2, VmathVector3 _col3 ) +{ + VmathTransform3 result; + vmathT3MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromM3V3(&result, &tfrm, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 _col0 ) +{ + vmathT3SetCol0(result, &_col0); +} + +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 _col1 ) +{ + vmathT3SetCol1(result, &_col1); +} + +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 _col2 ) +{ + vmathT3SetCol2(result, &_col2); +} + +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 _col3 ) +{ + vmathT3SetCol3(result, &_col3); +} + +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ) +{ + vmathT3SetCol(result, col, &vec); +} + +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ) +{ + vmathT3SetRow(result, row, &vec); +} + +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ) +{ + vmathT3SetElem(result, col, row, val); +} + +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ) +{ + return vmathT3GetElem(&tfrm, col, row); +} + +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol0(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol1(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol2(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol3(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ) +{ + VmathVector3 result; + vmathT3GetCol(&result, &tfrm, col); + return result; +} + +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ) +{ + VmathVector4 result; + vmathT3GetRow(&result, &tfrm, row); + return result; +} + +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3Inverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3OrthoInverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3AbsPerElem(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ) +{ + VmathVector3 result; + vmathT3MulV3(&result, &tfrm, &vec); + return result; +} + +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathT3MulP3(&result, &tfrm, &pnt); + return result; +} + +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3Mul(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3MulPerElem(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MakeIdentity_V( ) +{ + VmathTransform3 result; + vmathT3MakeIdentity(&result); + return result; +} + +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 tfrm ) +{ + vmathT3SetUpper3x3(result, &tfrm); +} + +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ) +{ + VmathMatrix3 result; + vmathT3GetUpper3x3(&result, &tfrm); + return result; +} + +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ) +{ + vmathT3SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetTranslation(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationX(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationY(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathTransform3 result; + vmathT3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathTransform3 result; + vmathT3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathTransform3 result; + vmathT3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3AppendScale(&result, &tfrm, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3PrependScale(&result, &scaleVec, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ) +{ + VmathTransform3 result; + vmathT3Select(&result, &tfrm0, &tfrm1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print_V( VmathTransform3 tfrm ) +{ + vmathT3Print(&tfrm); +} + +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ) +{ + vmathT3Prints(&tfrm, name); +} + +#endif + +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 tfrm ) +{ + VmathQuat result; + vmathQMakeFromM3(&result, &tfrm); + return result; +} + +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 tfrm0, VmathVector3 tfrm1 ) +{ + VmathMatrix3 result; + vmathV3Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 tfrm0, VmathVector4 tfrm1 ) +{ + VmathMatrix4 result; + vmathV4Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathV3RowMul(&result, &vec, &mat); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ) +{ + VmathMatrix3 result; + vmathV3CrossMatrix(&result, &vec); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathV3CrossMatrixMul(&result, &vec, &mat); + return result; +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa.h new file mode 100644 index 000000000..3b673c4eb --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa.h @@ -0,0 +1,1493 @@ +/* + 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_MAT_SOA_C_H +#define _VECTORMATH_MAT_SOA_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline void vmathSoaM3Copy( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( &result->col0, &mat->col0 ); + vmathSoaV3Copy( &result->col1, &mat->col1 ); + vmathSoaV3Copy( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3MakeFromScalar( VmathSoaMatrix3 *result, vec_float4 scalar ) +{ + vmathSoaV3MakeFromScalar( &result->col0, scalar ); + vmathSoaV3MakeFromScalar( &result->col1, scalar ); + vmathSoaV3MakeFromScalar( &result->col2, scalar ); +} + +static inline void vmathSoaM3MakeFromQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ) +{ + vec_float4 qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat->x; + qy = unitQuat->y; + qz = unitQuat->z; + qw = unitQuat->w; + qx2 = vec_add( qx, qx ); + qy2 = vec_add( qy, qy ); + qz2 = vec_add( qz, qz ); + qxqx2 = vec_madd( qx, qx2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqy2 = vec_madd( qx, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqz2 = vec_madd( qx, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqw2 = vec_madd( qw, qx2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqy2 = vec_madd( qy, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqz2 = vec_madd( qy, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqw2 = vec_madd( qw, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qzqz2 = vec_madd( qz, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qzqw2 = vec_madd( qw, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col0, vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qyqy2 ), qzqz2 ), vec_add( qxqy2, qzqw2 ), vec_sub( qxqz2, qyqw2 ) ); + vmathSoaV3MakeFromElems( &result->col1, vec_sub( qxqy2, qzqw2 ), vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qxqx2 ), qzqz2 ), vec_add( qyqz2, qxqw2 ) ); + vmathSoaV3MakeFromElems( &result->col2, vec_add( qxqz2, qyqw2 ), vec_sub( qyqz2, qxqw2 ), vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qxqx2 ), qyqy2 ) ); +} + +static inline void vmathSoaM3MakeFromCols( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col0, const VmathSoaVector3 *_col1, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); + vmathSoaV3Copy( &result->col1, _col1 ); + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM3MakeFromAos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathSoaV3MakeFromAos( &result->col0, &mat->col0 ); + vmathSoaV3MakeFromAos( &result->col1, &mat->col1 ); + vmathSoaV3MakeFromAos( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3MakeFrom4Aos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, const VmathMatrix3 *mat2, const VmathMatrix3 *mat3 ) +{ + vmathSoaV3MakeFrom4Aos( &result->col0, &mat0->col0, &mat1->col0, &mat2->col0, &mat3->col0 ); + vmathSoaV3MakeFrom4Aos( &result->col1, &mat0->col1, &mat1->col1, &mat2->col1, &mat3->col1 ); + vmathSoaV3MakeFrom4Aos( &result->col2, &mat0->col2, &mat1->col2, &mat2->col2, &mat3->col2 ); +} + +static inline void vmathSoaM3Get4Aos( const VmathSoaMatrix3 *mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ) +{ + vmathSoaV3Get4Aos( &mat->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV3Get4Aos( &mat->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV3Get4Aos( &mat->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); +} + +static inline void vmathSoaM3SetCol0( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col0 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaM3SetCol1( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col1 ) +{ + vmathSoaV3Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaM3SetCol2( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM3SetCol( VmathSoaMatrix3 *result, int col, const VmathSoaVector3 *vec ) +{ + vmathSoaV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaM3SetRow( VmathSoaMatrix3 *result, int row, const VmathSoaVector3 *vec ) +{ + vmathSoaV3SetElem( &result->col0, row, vmathSoaV3GetElem( vec, 0 ) ); + vmathSoaV3SetElem( &result->col1, row, vmathSoaV3GetElem( vec, 1 ) ); + vmathSoaV3SetElem( &result->col2, row, vmathSoaV3GetElem( vec, 2 ) ); +} + +static inline void vmathSoaM3SetElem( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaM3GetCol( &tmpV3_0, result, col ); + vmathSoaV3SetElem( &tmpV3_0, row, val ); + vmathSoaM3SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaM3GetElem( const VmathSoaMatrix3 *mat, int col, int row ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaM3GetCol( &tmpV3_0, mat, col ); + return vmathSoaV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathSoaM3GetCol0( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col0 ); +} + +static inline void vmathSoaM3GetCol1( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col1 ); +} + +static inline void vmathSoaM3GetCol2( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col2 ); +} + +static inline void vmathSoaM3GetCol( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int col ) +{ + vmathSoaV3Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathSoaM3GetRow( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int row ) +{ + vmathSoaV3MakeFromElems( result, vmathSoaV3GetElem( &mat->col0, row ), vmathSoaV3GetElem( &mat->col1, row ), vmathSoaV3GetElem( &mat->col2, row ) ); +} + +static inline void vmathSoaM3Transpose( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + VmathSoaMatrix3 tmpResult; + vmathSoaV3MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x ); + vmathSoaV3MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y ); + vmathSoaV3MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z ); + vmathSoaM3Copy( result, &tmpResult ); +} + +static inline void vmathSoaM3Inverse( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmp0, tmp1, tmp2; + vec_float4 detinv; + vmathSoaV3Cross( &tmp0, &mat->col1, &mat->col2 ); + vmathSoaV3Cross( &tmp1, &mat->col2, &mat->col0 ); + vmathSoaV3Cross( &tmp2, &mat->col0, &mat->col1 ); + detinv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vmathSoaV3Dot( &mat->col2, &tmp2 ) ); + vmathSoaV3MakeFromElems( &result->col0, vec_madd( tmp0.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &result->col1, vec_madd( tmp0.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &result->col2, vec_madd( tmp0.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline vec_float4 vmathSoaM3Determinant( const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3Cross( &tmpV3_0, &mat->col0, &mat->col1 ); + return vmathSoaV3Dot( &mat->col2, &tmpV3_0 ); +} + +static inline void vmathSoaM3Add( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3Add( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3Sub( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3Sub( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3Neg( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Neg( &result->col0, &mat->col0 ); + vmathSoaV3Neg( &result->col1, &mat->col1 ); + vmathSoaV3Neg( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3AbsPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3AbsPerElem( &result->col0, &mat->col0 ); + vmathSoaV3AbsPerElem( &result->col1, &mat->col1 ); + vmathSoaV3AbsPerElem( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3ScalarMul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, vec_float4 scalar ) +{ + vmathSoaV3ScalarMul( &result->col0, &mat->col0, scalar ); + vmathSoaV3ScalarMul( &result->col1, &mat->col1, scalar ); + vmathSoaV3ScalarMul( &result->col2, &mat->col2, scalar ); +} + +static inline void vmathSoaM3MulV3( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = vec_add( vec_add( vec_madd( mat->col0.x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.x, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.x, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_add( vec_add( vec_madd( mat->col0.y, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.y, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_add( vec_add( vec_madd( mat->col0.z, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.z, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaM3Mul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + VmathSoaMatrix3 tmpResult; + vmathSoaM3MulV3( &tmpResult.col0, mat0, &mat1->col0 ); + vmathSoaM3MulV3( &tmpResult.col1, mat0, &mat1->col1 ); + vmathSoaM3MulV3( &tmpResult.col2, mat0, &mat1->col2 ); + vmathSoaM3Copy( result, &tmpResult ); +} + +static inline void vmathSoaM3MulPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3MakeIdentity( VmathSoaMatrix3 *result ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); +} + +static inline void vmathSoaM3MakeRotationX( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s ); + vmathSoaV3MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c ); +} + +static inline void vmathSoaM3MakeRotationY( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ) ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeFromElems( &result->col2, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); +} + +static inline void vmathSoaM3MakeRotationZ( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeZAxis( &result->col2 ); +} + +static inline void vmathSoaM3MakeRotationZYX( VmathSoaMatrix3 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col0, vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ) ); + vmathSoaV3MakeFromElems( &result->col1, vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &result->col2, vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathSoaM3MakeRotationAxis( VmathSoaMatrix3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = vec_madd( x, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + yz = vec_madd( y, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zx = vec_madd( z, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + vmathSoaV3MakeFromElems( &result->col0, vec_add( vec_madd( vec_madd( x, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV3MakeFromElems( &result->col1, vec_sub( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( y, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV3MakeFromElems( &result->col2, vec_add( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( z, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ) ); +} + +static inline void vmathSoaM3MakeRotationQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ) +{ + vmathSoaM3MakeFromQ( result, unitQuat ); +} + +static inline void vmathSoaM3MakeScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3MakeFromElems( &result->col0, scaleVec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->z ); +} + +static inline void vmathSoaM3AppendScale( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3ScalarMul( &result->col0, &mat->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col1, &mat->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col2, &mat->col2, vmathSoaV3GetZ( scaleVec ) ); +} + +static inline void vmathSoaM3PrependScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3MulPerElem( &result->col0, &mat->col0, scaleVec ); + vmathSoaV3MulPerElem( &result->col1, &mat->col1, scaleVec ); + vmathSoaV3MulPerElem( &result->col2, &mat->col2, scaleVec ); +} + +static inline void vmathSoaM3Select( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1, vec_uint4 select1 ) +{ + vmathSoaV3Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathSoaV3Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathSoaV3Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM3Print( const VmathSoaMatrix3 *mat ) +{ + VmathMatrix3 mat0, mat1, mat2, mat3; + vmathSoaM3Get4Aos( mat, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathM3Print( &mat0 ); + printf("slot 1:\n"); + vmathM3Print( &mat1 ); + printf("slot 2:\n"); + vmathM3Print( &mat2 ); + printf("slot 3:\n"); + vmathM3Print( &mat3 ); +} + +static inline void vmathSoaM3Prints( const VmathSoaMatrix3 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathSoaM3Print( mat ); +} + +#endif + +static inline void vmathSoaM4Copy( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( &result->col0, &mat->col0 ); + vmathSoaV4Copy( &result->col1, &mat->col1 ); + vmathSoaV4Copy( &result->col2, &mat->col2 ); + vmathSoaV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4MakeFromScalar( VmathSoaMatrix4 *result, vec_float4 scalar ) +{ + vmathSoaV4MakeFromScalar( &result->col0, scalar ); + vmathSoaV4MakeFromScalar( &result->col1, scalar ); + vmathSoaV4MakeFromScalar( &result->col2, scalar ); + vmathSoaV4MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathSoaM4MakeFromT3( VmathSoaMatrix4 *result, const VmathSoaTransform3 *mat ) +{ + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat->col0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, &mat->col3, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaM4MakeFromCols( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col0, const VmathSoaVector4 *_col1, const VmathSoaVector4 *_col2, const VmathSoaVector4 *_col3 ) +{ + vmathSoaV4Copy( &result->col0, _col0 ); + vmathSoaV4Copy( &result->col1, _col1 ); + vmathSoaV4Copy( &result->col2, _col2 ); + vmathSoaV4Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaM4MakeFromM3V3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat->col0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaM4MakeFromQV3( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ) +{ + VmathSoaMatrix3 mat; + vmathSoaM3MakeFromQ( &mat, unitQuat ); + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat.col0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat.col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat.col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaM4MakeFromAos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathSoaV4MakeFromAos( &result->col0, &mat->col0 ); + vmathSoaV4MakeFromAos( &result->col1, &mat->col1 ); + vmathSoaV4MakeFromAos( &result->col2, &mat->col2 ); + vmathSoaV4MakeFromAos( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4MakeFrom4Aos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, const VmathMatrix4 *mat2, const VmathMatrix4 *mat3 ) +{ + vmathSoaV4MakeFrom4Aos( &result->col0, &mat0->col0, &mat1->col0, &mat2->col0, &mat3->col0 ); + vmathSoaV4MakeFrom4Aos( &result->col1, &mat0->col1, &mat1->col1, &mat2->col1, &mat3->col1 ); + vmathSoaV4MakeFrom4Aos( &result->col2, &mat0->col2, &mat1->col2, &mat2->col2, &mat3->col2 ); + vmathSoaV4MakeFrom4Aos( &result->col3, &mat0->col3, &mat1->col3, &mat2->col3, &mat3->col3 ); +} + +static inline void vmathSoaM4Get4Aos( const VmathSoaMatrix4 *mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ) +{ + vmathSoaV4Get4Aos( &mat->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV4Get4Aos( &mat->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV4Get4Aos( &mat->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); + vmathSoaV4Get4Aos( &mat->col3, &result0->col3, &result1->col3, &result2->col3, &result3->col3 ); +} + +static inline void vmathSoaM4SetCol0( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col0 ) +{ + vmathSoaV4Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaM4SetCol1( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col1 ) +{ + vmathSoaV4Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaM4SetCol2( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col2 ) +{ + vmathSoaV4Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM4SetCol3( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col3 ) +{ + vmathSoaV4Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaM4SetCol( VmathSoaMatrix4 *result, int col, const VmathSoaVector4 *vec ) +{ + vmathSoaV4Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaM4SetRow( VmathSoaMatrix4 *result, int row, const VmathSoaVector4 *vec ) +{ + vmathSoaV4SetElem( &result->col0, row, vmathSoaV4GetElem( vec, 0 ) ); + vmathSoaV4SetElem( &result->col1, row, vmathSoaV4GetElem( vec, 1 ) ); + vmathSoaV4SetElem( &result->col2, row, vmathSoaV4GetElem( vec, 2 ) ); + vmathSoaV4SetElem( &result->col3, row, vmathSoaV4GetElem( vec, 3 ) ); +} + +static inline void vmathSoaM4SetElem( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector4 tmpV3_0; + vmathSoaM4GetCol( &tmpV3_0, result, col ); + vmathSoaV4SetElem( &tmpV3_0, row, val ); + vmathSoaM4SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaM4GetElem( const VmathSoaMatrix4 *mat, int col, int row ) +{ + VmathSoaVector4 tmpV4_0; + vmathSoaM4GetCol( &tmpV4_0, mat, col ); + return vmathSoaV4GetElem( &tmpV4_0, row ); +} + +static inline void vmathSoaM4GetCol0( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col0 ); +} + +static inline void vmathSoaM4GetCol1( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col1 ); +} + +static inline void vmathSoaM4GetCol2( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col2 ); +} + +static inline void vmathSoaM4GetCol3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col3 ); +} + +static inline void vmathSoaM4GetCol( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int col ) +{ + vmathSoaV4Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathSoaM4GetRow( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int row ) +{ + vmathSoaV4MakeFromElems( result, vmathSoaV4GetElem( &mat->col0, row ), vmathSoaV4GetElem( &mat->col1, row ), vmathSoaV4GetElem( &mat->col2, row ), vmathSoaV4GetElem( &mat->col3, row ) ); +} + +static inline void vmathSoaM4Transpose( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaMatrix4 tmpResult; + vmathSoaV4MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x, mat->col3.x ); + vmathSoaV4MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y, mat->col3.y ); + vmathSoaV4MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z, mat->col3.z ); + vmathSoaV4MakeFromElems( &tmpResult.col3, mat->col0.w, mat->col1.w, mat->col2.w, mat->col3.w ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4Inverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaVector4 res0, res1, res2, res3; + vec_float4 mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = vec_sub( vec_madd( mK, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mO, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mB, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mF, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mJ, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mN, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetX( &res0, vec_sub( vec_sub( vec_madd( mJ, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mK, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV4SetY( &res0, vec_sub( vec_sub( vec_madd( mN, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mO, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV4SetZ( &res0, vec_sub( vec_add( vec_madd( mD, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mB, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV4SetW( &res0, vec_sub( vec_add( vec_madd( mH, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mF, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + detInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_add( vec_add( vec_add( vec_madd( mA, res0.x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, res0.y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mI, res0.z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mM, res0.w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + vmathSoaV4SetX( &res1, vec_madd( mI, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetY( &res1, vec_madd( mM, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetZ( &res1, vec_madd( mA, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetW( &res1, vec_madd( mE, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetX( &res3, vec_madd( mI, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetY( &res3, vec_madd( mM, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetZ( &res3, vec_madd( mA, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetW( &res3, vec_madd( mE, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetX( &res2, vec_madd( mI, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetY( &res2, vec_madd( mM, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetZ( &res2, vec_madd( mA, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetW( &res2, vec_madd( mE, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp0 = vec_sub( vec_madd( mI, mB, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mJ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mM, mF, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mN, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mI, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mM, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mI, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mM, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4SetX( &res2, vec_add( vec_sub( vec_madd( mL, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.x ) ); + vmathSoaV4SetY( &res2, vec_add( vec_sub( vec_madd( mP, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.y ) ); + vmathSoaV4SetZ( &res2, vec_sub( vec_sub( vec_madd( mB, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mD, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.z ) ); + vmathSoaV4SetW( &res2, vec_sub( vec_sub( vec_madd( mF, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mH, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.w ) ); + vmathSoaV4SetX( &res3, vec_add( vec_sub( vec_madd( mJ, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mK, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.x ) ); + vmathSoaV4SetY( &res3, vec_add( vec_sub( vec_madd( mN, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mO, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.y ) ); + vmathSoaV4SetZ( &res3, vec_sub( vec_sub( vec_madd( mC, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.z ) ); + vmathSoaV4SetW( &res3, vec_sub( vec_sub( vec_madd( mG, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.w ) ); + vmathSoaV4SetX( &res1, vec_sub( vec_sub( vec_madd( mK, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.x ) ); + vmathSoaV4SetY( &res1, vec_sub( vec_sub( vec_madd( mO, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.y ) ); + vmathSoaV4SetZ( &res1, vec_add( vec_sub( vec_madd( mD, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.z ) ); + vmathSoaV4SetW( &res1, vec_add( vec_sub( vec_madd( mH, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.w ) ); + vmathSoaV4ScalarMul( &result->col0, &res0, detInv ); + vmathSoaV4ScalarMul( &result->col1, &res1, detInv ); + vmathSoaV4ScalarMul( &result->col2, &res2, detInv ); + vmathSoaV4ScalarMul( &result->col3, &res3, detInv ); +} + +static inline void vmathSoaM4AffineInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaTransform3 affineMat, tmpT3_0; + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathSoaV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathSoaT3SetCol0( &affineMat, &tmpV3_0 ); + vmathSoaV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathSoaT3SetCol1( &affineMat, &tmpV3_1 ); + vmathSoaV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathSoaT3SetCol2( &affineMat, &tmpV3_2 ); + vmathSoaV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathSoaT3SetCol3( &affineMat, &tmpV3_3 ); + vmathSoaT3Inverse( &tmpT3_0, &affineMat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathSoaM4OrthoInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaTransform3 affineMat, tmpT3_0; + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathSoaV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathSoaT3SetCol0( &affineMat, &tmpV3_0 ); + vmathSoaV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathSoaT3SetCol1( &affineMat, &tmpV3_1 ); + vmathSoaV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathSoaT3SetCol2( &affineMat, &tmpV3_2 ); + vmathSoaV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathSoaT3SetCol3( &affineMat, &tmpV3_3 ); + vmathSoaT3OrthoInverse( &tmpT3_0, &affineMat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline vec_float4 vmathSoaM4Determinant( const VmathSoaMatrix4 *mat ) +{ + vec_float4 dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = vec_sub( vec_madd( mK, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mO, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mB, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mF, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mJ, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mN, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dx = vec_sub( vec_sub( vec_madd( mJ, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mK, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dy = vec_sub( vec_sub( vec_madd( mN, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mO, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dz = vec_sub( vec_add( vec_madd( mD, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mB, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dw = vec_sub( vec_add( vec_madd( mH, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mF, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return vec_add( vec_add( vec_add( vec_madd( mA, dx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, dy, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mI, dz, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mM, dw, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathSoaM4Add( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4Add( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4Add( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4Sub( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4Sub( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4Sub( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4Neg( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Neg( &result->col0, &mat->col0 ); + vmathSoaV4Neg( &result->col1, &mat->col1 ); + vmathSoaV4Neg( &result->col2, &mat->col2 ); + vmathSoaV4Neg( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4AbsPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4AbsPerElem( &result->col0, &mat->col0 ); + vmathSoaV4AbsPerElem( &result->col1, &mat->col1 ); + vmathSoaV4AbsPerElem( &result->col2, &mat->col2 ); + vmathSoaV4AbsPerElem( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4ScalarMul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, vec_float4 scalar ) +{ + vmathSoaV4ScalarMul( &result->col0, &mat->col0, scalar ); + vmathSoaV4ScalarMul( &result->col1, &mat->col1, scalar ); + vmathSoaV4ScalarMul( &result->col2, &mat->col2, scalar ); + vmathSoaV4ScalarMul( &result->col3, &mat->col3, scalar ); +} + +static inline void vmathSoaM4MulV4( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector4 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = vec_add( vec_add( vec_add( vec_madd( mat->col0.x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.x, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.x, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col3.x, vec->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_add( vec_add( vec_add( vec_madd( mat->col0.y, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.y, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col3.y, vec->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_add( vec_add( vec_add( vec_madd( mat->col0.z, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.z, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col3.z, vec->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpW = vec_add( vec_add( vec_add( vec_madd( mat->col0.w, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.w, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.w, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col3.w, vec->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV4MakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathSoaM4MulV3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *vec ) +{ + result->x = vec_add( vec_add( vec_madd( mat->col0.x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.x, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.x, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->y = vec_add( vec_add( vec_madd( mat->col0.y, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.y, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->z = vec_add( vec_add( vec_madd( mat->col0.z, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.z, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->w = vec_add( vec_add( vec_madd( mat->col0.w, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.w, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.w, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathSoaM4MulP3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaPoint3 *pnt ) +{ + result->x = vec_add( vec_add( vec_add( vec_madd( mat->col0.x, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.x, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.x, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mat->col3.x ); + result->y = vec_add( vec_add( vec_add( vec_madd( mat->col0.y, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.y, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.y, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mat->col3.y ); + result->z = vec_add( vec_add( vec_add( vec_madd( mat->col0.z, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.z, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.z, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mat->col3.z ); + result->w = vec_add( vec_add( vec_add( vec_madd( mat->col0.w, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mat->col1.w, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mat->col2.w, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mat->col3.w ); +} + +static inline void vmathSoaM4Mul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + VmathSoaMatrix4 tmpResult; + vmathSoaM4MulV4( &tmpResult.col0, mat0, &mat1->col0 ); + vmathSoaM4MulV4( &tmpResult.col1, mat0, &mat1->col1 ); + vmathSoaM4MulV4( &tmpResult.col2, mat0, &mat1->col2 ); + vmathSoaM4MulV4( &tmpResult.col3, mat0, &mat1->col3 ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4MulT3( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaTransform3 *tfrm1 ) +{ + VmathSoaMatrix4 tmpResult; + VmathSoaPoint3 tmpP3_0; + vmathSoaM4MulV3( &tmpResult.col0, mat, &tfrm1->col0 ); + vmathSoaM4MulV3( &tmpResult.col1, mat, &tfrm1->col1 ); + vmathSoaM4MulV3( &tmpResult.col2, mat, &tfrm1->col2 ); + vmathSoaP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathSoaM4MulP3( &tmpResult.col3, mat, &tmpP3_0 ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4MulPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4MulPerElem( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4MakeIdentity( VmathSoaMatrix4 *result ) +{ + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4SetUpper3x3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat3 ) +{ + vmathSoaV4SetXYZ( &result->col0, &mat3->col0 ); + vmathSoaV4SetXYZ( &result->col1, &mat3->col1 ); + vmathSoaV4SetXYZ( &result->col2, &mat3->col2 ); +} + +static inline void vmathSoaM4GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4GetXYZ( &result->col0, &mat->col0 ); + vmathSoaV4GetXYZ( &result->col1, &mat->col1 ); + vmathSoaV4GetXYZ( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM4SetTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4SetXYZ( &result->col3, translateVec ); +} + +static inline void vmathSoaM4GetTranslation( VmathSoaVector3 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4GetXYZ( result, &mat->col3 ); +} + +static inline void vmathSoaM4MakeRotationX( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationY( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeFromElems( &result->col0, c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeFromElems( &result->col2, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationZ( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeFromElems( &result->col0, c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationZYX( VmathSoaMatrix4 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col0, vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationAxis( VmathSoaMatrix4 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = vec_madd( x, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + yz = vec_madd( y, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zx = vec_madd( z, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + vmathSoaV4MakeFromElems( &result->col0, vec_add( vec_madd( vec_madd( x, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, vec_sub( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( y, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, vec_add( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( z, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationQ( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat ) +{ + VmathSoaTransform3 tmpT3_0; + vmathSoaT3MakeRotationQ( &tmpT3_0, unitQuat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathSoaM4MakeScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV4MakeFromElems( &result->col0, scaleVec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4AppendScale( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV4ScalarMul( &result->col0, &mat->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV4ScalarMul( &result->col1, &mat->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV4ScalarMul( &result->col2, &mat->col2, vmathSoaV3GetZ( scaleVec ) ); + vmathSoaV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4PrependScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix4 *mat ) +{ + VmathSoaVector4 scale4; + vmathSoaV4MakeFromV3Scalar( &scale4, scaleVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + vmathSoaV4MulPerElem( &result->col0, &mat->col0, &scale4 ); + vmathSoaV4MulPerElem( &result->col1, &mat->col1, &scale4 ); + vmathSoaV4MulPerElem( &result->col2, &mat->col2, &scale4 ); + vmathSoaV4MulPerElem( &result->col3, &mat->col3, &scale4 ); +} + +static inline void vmathSoaM4MakeTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaM4MakeLookAt( VmathSoaMatrix4 *result, const VmathSoaPoint3 *eyePos, const VmathSoaPoint3 *lookAtPos, const VmathSoaVector3 *upVec ) +{ + VmathSoaMatrix4 m4EyeFrame; + VmathSoaVector3 v3X, v3Y, v3Z, tmpV3_0, tmpV3_1; + VmathSoaVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathSoaV3Normalize( &v3Y, upVec ); + vmathSoaP3Sub( &tmpV3_0, eyePos, lookAtPos ); + vmathSoaV3Normalize( &v3Z, &tmpV3_0 ); + vmathSoaV3Cross( &tmpV3_1, &v3Y, &v3Z ); + vmathSoaV3Normalize( &v3X, &tmpV3_1 ); + vmathSoaV3Cross( &v3Y, &v3Z, &v3X ); + vmathSoaV4MakeFromV3( &tmpV4_0, &v3X ); + vmathSoaV4MakeFromV3( &tmpV4_1, &v3Y ); + vmathSoaV4MakeFromV3( &tmpV4_2, &v3Z ); + vmathSoaV4MakeFromP3( &tmpV4_3, eyePos ); + vmathSoaM4MakeFromCols( &m4EyeFrame, &tmpV4_0, &tmpV4_1, &tmpV4_2, &tmpV4_3 ); + vmathSoaM4OrthoInverse( result, &m4EyeFrame ); +} + +static inline void vmathSoaM4MakePerspective( VmathSoaMatrix4 *result, vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 f, rangeInv; + f = tanf4( vec_sub( ((vec_float4){_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2}), vec_madd( ((vec_float4){0.5f,0.5f,0.5f,0.5f}), fovyRadians, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + rangeInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + vmathSoaV4MakeFromElems( &result->col0, divf4( f, aspect ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), f, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_add( zNear, zFar ), rangeInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}) ); + vmathSoaV4MakeFromElems( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_madd( vec_madd( zNear, zFar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), rangeInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){2.0f,2.0f,2.0f,2.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaM4MakeFrustum( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = vec_add( right, left ); + sum_tb = vec_add( top, bottom ); + sum_nf = vec_add( zNear, zFar ); + inv_rl = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( right, left ) ); + inv_tb = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( top, bottom ) ); + inv_nf = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + n2 = vec_add( zNear, zNear ); + vmathSoaV4MakeFromElems( &result->col0, vec_madd( n2, inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( n2, inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, vec_madd( sum_rl, inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_tb, inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_nf, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}) ); + vmathSoaV4MakeFromElems( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_madd( n2, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), zFar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaM4MakeOrthographic( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = vec_add( right, left ); + sum_tb = vec_add( top, bottom ); + sum_nf = vec_add( zNear, zFar ); + inv_rl = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( right, left ) ); + inv_tb = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( top, bottom ) ); + inv_nf = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + vmathSoaV4MakeFromElems( &result->col0, vec_add( inv_rl, inv_rl ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_add( inv_tb, inv_tb ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_add( inv_nf, inv_nf ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV4MakeFromElems( &result->col3, vec_madd( negatef4( sum_rl ), inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( negatef4( sum_tb ), inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_nf, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaM4Select( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1, vec_uint4 select1 ) +{ + vmathSoaV4Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathSoaV4Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathSoaV4Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); + vmathSoaV4Select( &result->col3, &mat0->col3, &mat1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM4Print( const VmathSoaMatrix4 *mat ) +{ + VmathMatrix4 mat0, mat1, mat2, mat3; + vmathSoaM4Get4Aos( mat, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathM4Print( &mat0 ); + printf("slot 1:\n"); + vmathM4Print( &mat1 ); + printf("slot 2:\n"); + vmathM4Print( &mat2 ); + printf("slot 3:\n"); + vmathM4Print( &mat3 ); +} + +static inline void vmathSoaM4Prints( const VmathSoaMatrix4 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathSoaM4Print( mat ); +} + +#endif + +static inline void vmathSoaT3Copy( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( &result->col0, &tfrm->col0 ); + vmathSoaV3Copy( &result->col1, &tfrm->col1 ); + vmathSoaV3Copy( &result->col2, &tfrm->col2 ); + vmathSoaV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeFromScalar( VmathSoaTransform3 *result, vec_float4 scalar ) +{ + vmathSoaV3MakeFromScalar( &result->col0, scalar ); + vmathSoaV3MakeFromScalar( &result->col1, scalar ); + vmathSoaV3MakeFromScalar( &result->col2, scalar ); + vmathSoaV3MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathSoaT3MakeFromCols( VmathSoaTransform3 *result, const VmathSoaVector3 *_col0, const VmathSoaVector3 *_col1, const VmathSoaVector3 *_col2, const VmathSoaVector3 *_col3 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); + vmathSoaV3Copy( &result->col1, _col1 ); + vmathSoaV3Copy( &result->col2, _col2 ); + vmathSoaV3Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaT3MakeFromM3V3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm, const VmathSoaVector3 *translateVec ) +{ + vmathSoaT3SetUpper3x3( result, tfrm ); + vmathSoaT3SetTranslation( result, translateVec ); +} + +static inline void vmathSoaT3MakeFromQV3( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ) +{ + VmathSoaMatrix3 tmpM3_0; + vmathSoaM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathSoaT3SetUpper3x3( result, &tmpM3_0 ); + vmathSoaT3SetTranslation( result, translateVec ); +} + +static inline void vmathSoaT3MakeFromAos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathSoaV3MakeFromAos( &result->col0, &tfrm->col0 ); + vmathSoaV3MakeFromAos( &result->col1, &tfrm->col1 ); + vmathSoaV3MakeFromAos( &result->col2, &tfrm->col2 ); + vmathSoaV3MakeFromAos( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeFrom4Aos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, const VmathTransform3 *tfrm2, const VmathTransform3 *tfrm3 ) +{ + vmathSoaV3MakeFrom4Aos( &result->col0, &tfrm0->col0, &tfrm1->col0, &tfrm2->col0, &tfrm3->col0 ); + vmathSoaV3MakeFrom4Aos( &result->col1, &tfrm0->col1, &tfrm1->col1, &tfrm2->col1, &tfrm3->col1 ); + vmathSoaV3MakeFrom4Aos( &result->col2, &tfrm0->col2, &tfrm1->col2, &tfrm2->col2, &tfrm3->col2 ); + vmathSoaV3MakeFrom4Aos( &result->col3, &tfrm0->col3, &tfrm1->col3, &tfrm2->col3, &tfrm3->col3 ); +} + +static inline void vmathSoaT3Get4Aos( const VmathSoaTransform3 *tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ) +{ + vmathSoaV3Get4Aos( &tfrm->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV3Get4Aos( &tfrm->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV3Get4Aos( &tfrm->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); + vmathSoaV3Get4Aos( &tfrm->col3, &result0->col3, &result1->col3, &result2->col3, &result3->col3 ); +} + +static inline void vmathSoaT3SetCol0( VmathSoaTransform3 *result, const VmathSoaVector3 *_col0 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaT3SetCol1( VmathSoaTransform3 *result, const VmathSoaVector3 *_col1 ) +{ + vmathSoaV3Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaT3SetCol2( VmathSoaTransform3 *result, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaT3SetCol3( VmathSoaTransform3 *result, const VmathSoaVector3 *_col3 ) +{ + vmathSoaV3Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaT3SetCol( VmathSoaTransform3 *result, int col, const VmathSoaVector3 *vec ) +{ + vmathSoaV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaT3SetRow( VmathSoaTransform3 *result, int row, const VmathSoaVector4 *vec ) +{ + vmathSoaV3SetElem( &result->col0, row, vmathSoaV4GetElem( vec, 0 ) ); + vmathSoaV3SetElem( &result->col1, row, vmathSoaV4GetElem( vec, 1 ) ); + vmathSoaV3SetElem( &result->col2, row, vmathSoaV4GetElem( vec, 2 ) ); + vmathSoaV3SetElem( &result->col3, row, vmathSoaV4GetElem( vec, 3 ) ); +} + +static inline void vmathSoaT3SetElem( VmathSoaTransform3 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaT3GetCol( &tmpV3_0, result, col ); + vmathSoaV3SetElem( &tmpV3_0, row, val ); + vmathSoaT3SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaT3GetElem( const VmathSoaTransform3 *tfrm, int col, int row ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaT3GetCol( &tmpV3_0, tfrm, col ); + return vmathSoaV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathSoaT3GetCol0( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col0 ); +} + +static inline void vmathSoaT3GetCol1( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col1 ); +} + +static inline void vmathSoaT3GetCol2( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col2 ); +} + +static inline void vmathSoaT3GetCol3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathSoaT3GetCol( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, int col ) +{ + vmathSoaV3Copy( result, (&tfrm->col0 + col) ); +} + +static inline void vmathSoaT3GetRow( VmathSoaVector4 *result, const VmathSoaTransform3 *tfrm, int row ) +{ + vmathSoaV4MakeFromElems( result, vmathSoaV3GetElem( &tfrm->col0, row ), vmathSoaV3GetElem( &tfrm->col1, row ), vmathSoaV3GetElem( &tfrm->col2, row ), vmathSoaV3GetElem( &tfrm->col3, row ) ); +} + +static inline void vmathSoaT3Inverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + VmathSoaVector3 tmp0, tmp1, tmp2, inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + vec_float4 detinv; + vmathSoaV3Cross( &tmp0, &tfrm->col1, &tfrm->col2 ); + vmathSoaV3Cross( &tmp1, &tfrm->col2, &tfrm->col0 ); + vmathSoaV3Cross( &tmp2, &tfrm->col0, &tfrm->col1 ); + detinv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vmathSoaV3Dot( &tfrm->col2, &tmp2 ) ); + vmathSoaV3MakeFromElems( &inv0, vec_madd( tmp0.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.x, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &inv1, vec_madd( tmp0.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.y, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &inv2, vec_madd( tmp0.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.z, detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3Copy( &result->col0, &inv0 ); + vmathSoaV3Copy( &result->col1, &inv1 ); + vmathSoaV3Copy( &result->col2, &inv2 ); + vmathSoaV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathSoaV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathSoaV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathSoaV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathSoaV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathSoaV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathSoaV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathSoaT3OrthoInverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + VmathSoaVector3 inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + vmathSoaV3MakeFromElems( &inv0, tfrm->col0.x, tfrm->col1.x, tfrm->col2.x ); + vmathSoaV3MakeFromElems( &inv1, tfrm->col0.y, tfrm->col1.y, tfrm->col2.y ); + vmathSoaV3MakeFromElems( &inv2, tfrm->col0.z, tfrm->col1.z, tfrm->col2.z ); + vmathSoaV3Copy( &result->col0, &inv0 ); + vmathSoaV3Copy( &result->col1, &inv1 ); + vmathSoaV3Copy( &result->col2, &inv2 ); + vmathSoaV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathSoaV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathSoaV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathSoaV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathSoaV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathSoaV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathSoaV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathSoaT3AbsPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3AbsPerElem( &result->col0, &tfrm->col0 ); + vmathSoaV3AbsPerElem( &result->col1, &tfrm->col1 ); + vmathSoaV3AbsPerElem( &result->col2, &tfrm->col2 ); + vmathSoaV3AbsPerElem( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MulV3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = vec_add( vec_add( vec_madd( tfrm->col0.x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.x, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.x, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_add( vec_add( vec_madd( tfrm->col0.y, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.y, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_add( vec_add( vec_madd( tfrm->col0.z, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.z, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaT3MulP3( VmathSoaPoint3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaPoint3 *pnt ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = vec_add( vec_add( vec_add( vec_madd( tfrm->col0.x, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.x, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.x, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), tfrm->col3.x ); + tmpY = vec_add( vec_add( vec_add( vec_madd( tfrm->col0.y, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.y, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.y, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), tfrm->col3.y ); + tmpZ = vec_add( vec_add( vec_add( vec_madd( tfrm->col0.z, pnt->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tfrm->col1.z, pnt->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tfrm->col2.z, pnt->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), tfrm->col3.z ); + vmathSoaP3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaT3Mul( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ) +{ + VmathSoaTransform3 tmpResult; + VmathSoaPoint3 tmpP3_0, tmpP3_1; + vmathSoaT3MulV3( &tmpResult.col0, tfrm0, &tfrm1->col0 ); + vmathSoaT3MulV3( &tmpResult.col1, tfrm0, &tfrm1->col1 ); + vmathSoaT3MulV3( &tmpResult.col2, tfrm0, &tfrm1->col2 ); + vmathSoaP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathSoaT3MulP3( &tmpP3_1, tfrm0, &tmpP3_0 ); + vmathSoaV3MakeFromP3( &tmpResult.col3, &tmpP3_1 ); + vmathSoaT3Copy( result, &tmpResult ); +} + +static inline void vmathSoaT3MulPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ) +{ + vmathSoaV3MulPerElem( &result->col0, &tfrm0->col0, &tfrm1->col0 ); + vmathSoaV3MulPerElem( &result->col1, &tfrm0->col1, &tfrm1->col1 ); + vmathSoaV3MulPerElem( &result->col2, &tfrm0->col2, &tfrm1->col2 ); + vmathSoaV3MulPerElem( &result->col3, &tfrm0->col3, &tfrm1->col3 ); +} + +static inline void vmathSoaT3MakeIdentity( VmathSoaTransform3 *result ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3SetUpper3x3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm ) +{ + vmathSoaV3Copy( &result->col0, &tfrm->col0 ); + vmathSoaV3Copy( &result->col1, &tfrm->col1 ); + vmathSoaV3Copy( &result->col2, &tfrm->col2 ); +} + +static inline void vmathSoaT3GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaM3MakeFromCols( result, &tfrm->col0, &tfrm->col1, &tfrm->col2 ); +} + +static inline void vmathSoaT3SetTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV3Copy( &result->col3, translateVec ); +} + +static inline void vmathSoaT3GetTranslation( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeRotationX( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s ); + vmathSoaV3MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3MakeRotationY( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ) ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeFromElems( &result->col2, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3MakeRotationZ( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3MakeRotationZYX( VmathSoaTransform3 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col0, vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ) ); + vmathSoaV3MakeFromElems( &result->col1, vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( &result->col2, vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3MakeRotationAxis( VmathSoaTransform3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + VmathSoaMatrix3 tmpM3_0; + VmathSoaVector3 tmpV3_0; + vmathSoaM3MakeRotationAxis( &tmpM3_0, radians, unitVec ); + vmathSoaV3MakeFromScalar( &tmpV3_0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathSoaT3MakeRotationQ( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat ) +{ + VmathSoaMatrix3 tmpM3_0; + VmathSoaVector3 tmpV3_0; + vmathSoaM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathSoaV3MakeFromScalar( &tmpV3_0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathSoaT3MakeScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3MakeFromElems( &result->col0, scaleVec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathSoaV3MakeFromElems( &result->col2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec->z ); + vmathSoaV3MakeFromScalar( &result->col3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaT3AppendScale( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3ScalarMul( &result->col0, &tfrm->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col1, &tfrm->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col2, &tfrm->col2, vmathSoaV3GetZ( scaleVec ) ); + vmathSoaV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3PrependScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3MulPerElem( &result->col0, &tfrm->col0, scaleVec ); + vmathSoaV3MulPerElem( &result->col1, &tfrm->col1, scaleVec ); + vmathSoaV3MulPerElem( &result->col2, &tfrm->col2, scaleVec ); + vmathSoaV3MulPerElem( &result->col3, &tfrm->col3, scaleVec ); +} + +static inline void vmathSoaT3MakeTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3Copy( &result->col3, translateVec ); +} + +static inline void vmathSoaT3Select( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1, vec_uint4 select1 ) +{ + vmathSoaV3Select( &result->col0, &tfrm0->col0, &tfrm1->col0, select1 ); + vmathSoaV3Select( &result->col1, &tfrm0->col1, &tfrm1->col1, select1 ); + vmathSoaV3Select( &result->col2, &tfrm0->col2, &tfrm1->col2, select1 ); + vmathSoaV3Select( &result->col3, &tfrm0->col3, &tfrm1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaT3Print( const VmathSoaTransform3 *tfrm ) +{ + VmathTransform3 mat0, mat1, mat2, mat3; + vmathSoaT3Get4Aos( tfrm, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathT3Print( &mat0 ); + printf("slot 1:\n"); + vmathT3Print( &mat1 ); + printf("slot 2:\n"); + vmathT3Print( &mat2 ); + printf("slot 3:\n"); + vmathT3Print( &mat3 ); +} + +static inline void vmathSoaT3Prints( const VmathSoaTransform3 *tfrm, const char *name ) +{ + printf("%s:\n", name); + vmathSoaT3Print( tfrm ); +} + +#endif + +static inline void vmathSoaQMakeFromM3( VmathSoaQuat *result, const VmathSoaMatrix3 *tfrm ) +{ + vec_float4 trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + vec_uint4 negTrace, ZgtX, ZgtY, YgtX; + vec_uint4 largestXorY, largestYorZ, largestZorX; + + xx = tfrm->col0.x; + yx = tfrm->col0.y; + zx = tfrm->col0.z; + xy = tfrm->col1.x; + yy = tfrm->col1.y; + zy = tfrm->col1.z; + xz = tfrm->col2.x; + yz = tfrm->col2.y; + zz = tfrm->col2.z; + + trace = vec_add( vec_add( xx, yy ), zz ); + + negTrace = (vec_uint4)vec_cmpgt( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), trace ); + ZgtX = (vec_uint4)vec_cmpgt( zz, xx ); + ZgtY = (vec_uint4)vec_cmpgt( zz, yy ); + YgtX = (vec_uint4)vec_cmpgt( yy, xx ); + largestXorY = vec_andc( negTrace, vec_and( ZgtX, ZgtY ) ); + largestYorZ = vec_and( negTrace, vec_or( YgtX, ZgtX ) ); + largestZorX = vec_andc( negTrace, vec_andc( YgtX, ZgtY ) ); + + zz = vec_sel( zz, negatef4(zz), largestXorY ); + xy = vec_sel( xy, negatef4(xy), largestXorY ); + xx = vec_sel( xx, negatef4(xx), largestYorZ ); + yz = vec_sel( yz, negatef4(yz), largestYorZ ); + yy = vec_sel( yy, negatef4(yy), largestZorX ); + zx = vec_sel( zx, negatef4(zx), largestZorX ); + + radicand = vec_add( vec_add( vec_add( xx, yy ), zz ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + scale = vec_madd( ((vec_float4){0.5f,0.5f,0.5f,0.5f}), divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( radicand ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + + tmpx = vec_madd( vec_sub( zy, yz ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpy = vec_madd( vec_sub( xz, zx ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpz = vec_madd( vec_sub( yx, xy ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpw = vec_madd( radicand, scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + qx = vec_sel( qx, tmpw, largestXorY ); + qy = vec_sel( qy, tmpz, largestXorY ); + qz = vec_sel( qz, tmpy, largestXorY ); + qw = vec_sel( qw, tmpx, largestXorY ); + tmpx = qx; + tmpz = qz; + qx = vec_sel( qx, qy, largestYorZ ); + qy = vec_sel( qy, tmpx, largestYorZ ); + qz = vec_sel( qz, qw, largestYorZ ); + qw = vec_sel( qw, tmpz, largestYorZ ); + + result->x = qx; + result->y = qy; + result->z = qz; + result->w = qw; +} + +static inline void vmathSoaV3Outer( VmathSoaMatrix3 *result, const VmathSoaVector3 *tfrm0, const VmathSoaVector3 *tfrm1 ) +{ + vmathSoaV3ScalarMul( &result->col0, tfrm0, vmathSoaV3GetX( tfrm1 ) ); + vmathSoaV3ScalarMul( &result->col1, tfrm0, vmathSoaV3GetY( tfrm1 ) ); + vmathSoaV3ScalarMul( &result->col2, tfrm0, vmathSoaV3GetZ( tfrm1 ) ); +} + +static inline void vmathSoaV4Outer( VmathSoaMatrix4 *result, const VmathSoaVector4 *tfrm0, const VmathSoaVector4 *tfrm1 ) +{ + vmathSoaV4ScalarMul( &result->col0, tfrm0, vmathSoaV4GetX( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col1, tfrm0, vmathSoaV4GetY( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col2, tfrm0, vmathSoaV4GetZ( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col3, tfrm0, vmathSoaV4GetW( tfrm1 ) ); +} + +static inline void vmathSoaV3RowMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = vec_add( vec_add( vec_madd( vec->x, mat->col0.x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec->y, mat->col0.y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec->z, mat->col0.z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_add( vec_add( vec_madd( vec->x, mat->col1.x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec->y, mat->col1.y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec->z, mat->col1.z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_add( vec_add( vec_madd( vec->x, mat->col2.x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec->y, mat->col2.y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec->z, mat->col2.z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaV3CrossMatrix( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec ) +{ + vmathSoaV3MakeFromElems( &result->col0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec->z, negatef4( vec->y ) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( vec->z ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec->x ); + vmathSoaV3MakeFromElems( &result->col2, vec->y, negatef4( vec->x ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3CrossMatrixMul( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathSoaV3Cross( &tmpV3_0, vec, &mat->col0 ); + vmathSoaV3Cross( &tmpV3_1, vec, &mat->col1 ); + vmathSoaV3Cross( &tmpV3_2, vec, &mat->col2 ); + vmathSoaM3MakeFromCols( result, &tmpV3_0, &tmpV3_1, &tmpV3_2 ); +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa_v.h new file mode 100644 index 000000000..c8401e3d0 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/mat_soa_v.h @@ -0,0 +1,1063 @@ +/* + 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_MAT_SOA_V_C_H +#define _VECTORMATH_MAT_SOA_V_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromCols_V( VmathSoaVector3 _col0, VmathSoaVector3 _col1, VmathSoaVector3 _col2 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromCols(&result, &_col0, &_col1, &_col2); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromAos_V( VmathMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromAos(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFrom4Aos_V( VmathMatrix3 mat0, VmathMatrix3 mat1, VmathMatrix3 mat2, VmathMatrix3 mat3 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFrom4Aos(&result, &mat0, &mat1, &mat2, &mat3); + return result; +} + +static inline void vmathSoaM3Get4Aos_V( VmathSoaMatrix3 mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ) +{ + vmathSoaM3Get4Aos(&mat, result0, result1, result2, result3); +} + +static inline void vmathSoaM3SetCol0_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col0 ) +{ + vmathSoaM3SetCol0(result, &_col0); +} + +static inline void vmathSoaM3SetCol1_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col1 ) +{ + vmathSoaM3SetCol1(result, &_col1); +} + +static inline void vmathSoaM3SetCol2_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col2 ) +{ + vmathSoaM3SetCol2(result, &_col2); +} + +static inline void vmathSoaM3SetCol_V( VmathSoaMatrix3 *result, int col, VmathSoaVector3 vec ) +{ + vmathSoaM3SetCol(result, col, &vec); +} + +static inline void vmathSoaM3SetRow_V( VmathSoaMatrix3 *result, int row, VmathSoaVector3 vec ) +{ + vmathSoaM3SetRow(result, row, &vec); +} + +static inline void vmathSoaM3SetElem_V( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ) +{ + vmathSoaM3SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaM3GetElem_V( VmathSoaMatrix3 mat, int col, int row ) +{ + return vmathSoaM3GetElem(&mat, col, row); +} + +static inline VmathSoaVector3 vmathSoaM3GetCol0_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol0(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol1_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol1(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol2_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol2(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol_V( VmathSoaMatrix3 mat, int col ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol(&result, &mat, col); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetRow_V( VmathSoaMatrix3 mat, int row ) +{ + VmathSoaVector3 result; + vmathSoaM3GetRow(&result, &mat, row); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Transpose_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Transpose(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Inverse_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Inverse(&result, &mat); + return result; +} + +static inline vec_float4 vmathSoaM3Determinant_V( VmathSoaMatrix3 mat ) +{ + return vmathSoaM3Determinant(&mat); +} + +static inline VmathSoaMatrix3 vmathSoaM3Add_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Sub_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Neg_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Neg(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3AbsPerElem_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3AbsPerElem(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3ScalarMul_V( VmathSoaMatrix3 mat, vec_float4 scalar ) +{ + VmathSoaMatrix3 result; + vmathSoaM3ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3MulV3_V( VmathSoaMatrix3 mat, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaM3MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Mul_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MulPerElem_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeIdentity_V( ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeIdentity(&result); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3AppendScale_V( VmathSoaMatrix3 mat, VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Select_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1, vec_uint4 select1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM3Print_V( VmathSoaMatrix3 mat ) +{ + vmathSoaM3Print(&mat); +} + +static inline void vmathSoaM3Prints_V( VmathSoaMatrix3 mat, const char *name ) +{ + vmathSoaM3Prints(&mat, name); +} + +#endif + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromT3_V( VmathSoaTransform3 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromT3(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromCols_V( VmathSoaVector4 _col0, VmathSoaVector4 _col1, VmathSoaVector4 _col2, VmathSoaVector4 _col3 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromM3V3_V( VmathSoaMatrix3 mat, VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromM3V3(&result, &mat, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromAos_V( VmathMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromAos(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFrom4Aos_V( VmathMatrix4 mat0, VmathMatrix4 mat1, VmathMatrix4 mat2, VmathMatrix4 mat3 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFrom4Aos(&result, &mat0, &mat1, &mat2, &mat3); + return result; +} + +static inline void vmathSoaM4Get4Aos_V( VmathSoaMatrix4 mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ) +{ + vmathSoaM4Get4Aos(&mat, result0, result1, result2, result3); +} + +static inline void vmathSoaM4SetCol0_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col0 ) +{ + vmathSoaM4SetCol0(result, &_col0); +} + +static inline void vmathSoaM4SetCol1_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col1 ) +{ + vmathSoaM4SetCol1(result, &_col1); +} + +static inline void vmathSoaM4SetCol2_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col2 ) +{ + vmathSoaM4SetCol2(result, &_col2); +} + +static inline void vmathSoaM4SetCol3_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col3 ) +{ + vmathSoaM4SetCol3(result, &_col3); +} + +static inline void vmathSoaM4SetCol_V( VmathSoaMatrix4 *result, int col, VmathSoaVector4 vec ) +{ + vmathSoaM4SetCol(result, col, &vec); +} + +static inline void vmathSoaM4SetRow_V( VmathSoaMatrix4 *result, int row, VmathSoaVector4 vec ) +{ + vmathSoaM4SetRow(result, row, &vec); +} + +static inline void vmathSoaM4SetElem_V( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ) +{ + vmathSoaM4SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaM4GetElem_V( VmathSoaMatrix4 mat, int col, int row ) +{ + return vmathSoaM4GetElem(&mat, col, row); +} + +static inline VmathSoaVector4 vmathSoaM4GetCol0_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol0(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol1_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol1(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol2_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol2(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol3_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol3(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol_V( VmathSoaMatrix4 mat, int col ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol(&result, &mat, col); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetRow_V( VmathSoaMatrix4 mat, int row ) +{ + VmathSoaVector4 result; + vmathSoaM4GetRow(&result, &mat, row); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Transpose_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Transpose(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Inverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Inverse(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AffineInverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AffineInverse(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4OrthoInverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4OrthoInverse(&result, &mat); + return result; +} + +static inline vec_float4 vmathSoaM4Determinant_V( VmathSoaMatrix4 mat ) +{ + return vmathSoaM4Determinant(&mat); +} + +static inline VmathSoaMatrix4 vmathSoaM4Add_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Sub_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Neg_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Neg(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AbsPerElem_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AbsPerElem(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4ScalarMul_V( VmathSoaMatrix4 mat, vec_float4 scalar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulV4_V( VmathSoaMatrix4 mat, VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaM4MulV4(&result, &mat, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulV3_V( VmathSoaMatrix4 mat, VmathSoaVector3 vec ) +{ + VmathSoaVector4 result; + vmathSoaM4MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulP3_V( VmathSoaMatrix4 mat, VmathSoaPoint3 pnt ) +{ + VmathSoaVector4 result; + vmathSoaM4MulP3(&result, &mat, &pnt); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Mul_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MulT3_V( VmathSoaMatrix4 mat, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MulT3(&result, &mat, &tfrm1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MulPerElem_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeIdentity_V( ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeIdentity(&result); + return result; +} + +static inline void vmathSoaM4SetUpper3x3_V( VmathSoaMatrix4 *result, VmathSoaMatrix3 mat3 ) +{ + vmathSoaM4SetUpper3x3(result, &mat3); +} + +static inline VmathSoaMatrix3 vmathSoaM4GetUpper3x3_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM4GetUpper3x3(&result, &mat); + return result; +} + +static inline void vmathSoaM4SetTranslation_V( VmathSoaMatrix4 *result, VmathSoaVector3 translateVec ) +{ + vmathSoaM4SetTranslation(result, &translateVec); +} + +static inline VmathSoaVector3 vmathSoaM4GetTranslation_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector3 result; + vmathSoaM4GetTranslation(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AppendScale_V( VmathSoaMatrix4 mat, VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeTranslation_V( VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeLookAt_V( VmathSoaPoint3 eyePos, VmathSoaPoint3 lookAtPos, VmathSoaVector3 upVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeLookAt(&result, &eyePos, &lookAtPos, &upVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakePerspective_V( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakePerspective(&result, fovyRadians, aspect, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFrustum_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFrustum(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeOrthographic_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeOrthographic(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Select_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1, vec_uint4 select1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM4Print_V( VmathSoaMatrix4 mat ) +{ + vmathSoaM4Print(&mat); +} + +static inline void vmathSoaM4Prints_V( VmathSoaMatrix4 mat, const char *name ) +{ + vmathSoaM4Prints(&mat, name); +} + +#endif + +static inline VmathSoaTransform3 vmathSoaT3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromCols_V( VmathSoaVector3 _col0, VmathSoaVector3 _col1, VmathSoaVector3 _col2, VmathSoaVector3 _col3 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromM3V3_V( VmathSoaMatrix3 tfrm, VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromM3V3(&result, &tfrm, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromAos_V( VmathTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromAos(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFrom4Aos_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, VmathTransform3 tfrm2, VmathTransform3 tfrm3 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFrom4Aos(&result, &tfrm0, &tfrm1, &tfrm2, &tfrm3); + return result; +} + +static inline void vmathSoaT3Get4Aos_V( VmathSoaTransform3 tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ) +{ + vmathSoaT3Get4Aos(&tfrm, result0, result1, result2, result3); +} + +static inline void vmathSoaT3SetCol0_V( VmathSoaTransform3 *result, VmathSoaVector3 _col0 ) +{ + vmathSoaT3SetCol0(result, &_col0); +} + +static inline void vmathSoaT3SetCol1_V( VmathSoaTransform3 *result, VmathSoaVector3 _col1 ) +{ + vmathSoaT3SetCol1(result, &_col1); +} + +static inline void vmathSoaT3SetCol2_V( VmathSoaTransform3 *result, VmathSoaVector3 _col2 ) +{ + vmathSoaT3SetCol2(result, &_col2); +} + +static inline void vmathSoaT3SetCol3_V( VmathSoaTransform3 *result, VmathSoaVector3 _col3 ) +{ + vmathSoaT3SetCol3(result, &_col3); +} + +static inline void vmathSoaT3SetCol_V( VmathSoaTransform3 *result, int col, VmathSoaVector3 vec ) +{ + vmathSoaT3SetCol(result, col, &vec); +} + +static inline void vmathSoaT3SetRow_V( VmathSoaTransform3 *result, int row, VmathSoaVector4 vec ) +{ + vmathSoaT3SetRow(result, row, &vec); +} + +static inline void vmathSoaT3SetElem_V( VmathSoaTransform3 *result, int col, int row, vec_float4 val ) +{ + vmathSoaT3SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaT3GetElem_V( VmathSoaTransform3 tfrm, int col, int row ) +{ + return vmathSoaT3GetElem(&tfrm, col, row); +} + +static inline VmathSoaVector3 vmathSoaT3GetCol0_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol0(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol1_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol1(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol2_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol2(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol3_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol3(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol_V( VmathSoaTransform3 tfrm, int col ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol(&result, &tfrm, col); + return result; +} + +static inline VmathSoaVector4 vmathSoaT3GetRow_V( VmathSoaTransform3 tfrm, int row ) +{ + VmathSoaVector4 result; + vmathSoaT3GetRow(&result, &tfrm, row); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Inverse_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3Inverse(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3OrthoInverse_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3OrthoInverse(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3AbsPerElem_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3AbsPerElem(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3MulV3_V( VmathSoaTransform3 tfrm, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaT3MulV3(&result, &tfrm, &vec); + return result; +} + +static inline VmathSoaPoint3 vmathSoaT3MulP3_V( VmathSoaTransform3 tfrm, VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaT3MulP3(&result, &tfrm, &pnt); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Mul_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3Mul(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MulPerElem_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MulPerElem(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeIdentity_V( ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeIdentity(&result); + return result; +} + +static inline void vmathSoaT3SetUpper3x3_V( VmathSoaTransform3 *result, VmathSoaMatrix3 tfrm ) +{ + vmathSoaT3SetUpper3x3(result, &tfrm); +} + +static inline VmathSoaMatrix3 vmathSoaT3GetUpper3x3_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaMatrix3 result; + vmathSoaT3GetUpper3x3(&result, &tfrm); + return result; +} + +static inline void vmathSoaT3SetTranslation_V( VmathSoaTransform3 *result, VmathSoaVector3 translateVec ) +{ + vmathSoaT3SetTranslation(result, &translateVec); +} + +static inline VmathSoaVector3 vmathSoaT3GetTranslation_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetTranslation(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3AppendScale_V( VmathSoaTransform3 tfrm, VmathSoaVector3 scaleVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3AppendScale(&result, &tfrm, &scaleVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3PrependScale(&result, &scaleVec, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeTranslation_V( VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Select_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1, vec_uint4 select1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3Select(&result, &tfrm0, &tfrm1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaT3Print_V( VmathSoaTransform3 tfrm ) +{ + vmathSoaT3Print(&tfrm); +} + +static inline void vmathSoaT3Prints_V( VmathSoaTransform3 tfrm, const char *name ) +{ + vmathSoaT3Prints(&tfrm, name); +} + +#endif + +static inline VmathSoaQuat vmathSoaQMakeFromM3_V( VmathSoaMatrix3 tfrm ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromM3(&result, &tfrm); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3Outer_V( VmathSoaVector3 tfrm0, VmathSoaVector3 tfrm1 ) +{ + VmathSoaMatrix3 result; + vmathSoaV3Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaV4Outer_V( VmathSoaVector4 tfrm0, VmathSoaVector4 tfrm1 ) +{ + VmathSoaMatrix4 result; + vmathSoaV4Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RowMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaV3RowMul(&result, &vec, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrix_V( VmathSoaVector3 vec ) +{ + VmathSoaMatrix3 result; + vmathSoaV3CrossMatrix(&result, &vec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrixMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaV3CrossMatrixMul(&result, &vec, &mat); + return result; +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos.h new file mode 100644 index 000000000..2915f4f07 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos.h @@ -0,0 +1,379 @@ +/* + 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_C_H +#define _VECTORMATH_QUAT_AOS_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathQMakeFromElems( VmathQuat *result, float _x, float _y, float _z, float _w ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & + __builtin_constant_p(_z) & __builtin_constant_p(_w)) { + result->vec128 = (vec_float4){_x, _y, _z, _w}; + } else { + float *pf = (float *)&result->vec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + pf[3] = _w; + } +} + +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float _w ) +{ + result->vec128 = xyz->vec128; + _vmathVfSetElement(result->vec128, _w, 3); +} + +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ) +{ + result->vec128 = _vmathVfSplatScalar(scalar); +} + +static inline void vmathQMakeFrom128( VmathQuat *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathQMakeIdentity( VmathQuat *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0001; +} + +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + VmathQuat tmpQ_0, tmpQ_1; + vmathQSub( &tmpQ_0, quat1, quat0 ); + vmathQScalarMul( &tmpQ_1, &tmpQ_0, t ); + vmathQAdd( result, quat0, &tmpQ_1 ); +} + +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ) +{ + VmathQuat start; + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot4( unitQuat0->vec128, unitQuat1->vec128 ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + start.vec128 = vec_sel( unitQuat0->vec128, negatef4( unitQuat0->vec128 ), selectMask ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = _vmathVfSplatScalar(t); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + result->vec128 = vec_madd( start.vec128, scale0, vec_madd( unitQuat1->vec128, scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ) +{ + VmathQuat tmp0, tmp1; + vmathQSlerp( &tmp0, t, unitQuat0, unitQuat3 ); + vmathQSlerp( &tmp1, t, unitQuat1, unitQuat2 ); + vmathQSlerp( result, ( ( 2.0f * t ) * ( 1.0f - t ) ), &tmp0, &tmp1 ); +} + +static inline vec_float4 vmathQGet128( const VmathQuat *quat ) +{ + return quat->vec128; +} + +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ) +{ + result->vec128 = vec_sel( vec->vec128, result->vec128, _VECTORMATH_MASK_0x000F ); +} + +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathQSetX( VmathQuat *result, float _x ) +{ + _vmathVfSetElement(result->vec128, _x, 0); +} + +static inline float vmathQGetX( const VmathQuat *quat ) +{ + return _vmathVfGetElement(quat->vec128, 0); +} + +static inline void vmathQSetY( VmathQuat *result, float _y ) +{ + _vmathVfSetElement(result->vec128, _y, 1); +} + +static inline float vmathQGetY( const VmathQuat *quat ) +{ + return _vmathVfGetElement(quat->vec128, 1); +} + +static inline void vmathQSetZ( VmathQuat *result, float _z ) +{ + _vmathVfSetElement(result->vec128, _z, 2); +} + +static inline float vmathQGetZ( const VmathQuat *quat ) +{ + return _vmathVfGetElement(quat->vec128, 2); +} + +static inline void vmathQSetW( VmathQuat *result, float _w ) +{ + _vmathVfSetElement(result->vec128, _w, 3); +} + +static inline float vmathQGetW( const VmathQuat *quat ) +{ + return _vmathVfGetElement(quat->vec128, 3); +} + +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ) +{ + _vmathVfSetElement(result->vec128, value, idx); +} + +static inline float vmathQGetElem( const VmathQuat *quat, int idx ) +{ + return _vmathVfGetElement(quat->vec128, idx); +} + +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->vec128 = vec_add( quat0->vec128, quat1->vec128 ); +} + +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->vec128 = vec_sub( quat0->vec128, quat1->vec128 ); +} + +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->vec128 = vec_madd( quat->vec128, _vmathVfSplatScalar(scalar), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->vec128 = divf4( quat->vec128, _vmathVfSplatScalar(scalar) ); +} + +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = negatef4( quat->vec128 ); +} + +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + vec_float4 result = _vmathVfDot4( quat0->vec128, quat1->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathQNorm( const VmathQuat *quat ) +{ + vec_float4 result = _vmathVfDot4( quat->vec128, quat->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathQLength( const VmathQuat *quat ) +{ + return sqrtf( vmathQNorm( quat ) ); +} + +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ) +{ + vec_float4 dot = _vmathVfDot4( quat->vec128, quat->vec128 ); + result->vec128 = vec_madd( quat->vec128, rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + VmathVector3 crossVec, tmpV3_0; + vec_float4 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res; + cosAngle = _vmathVfDot3( unitVec0->vec128, unitVec1->vec128 ); + cosAngle = vec_splat( cosAngle, 0 ); + cosAngleX2Plus2 = vec_madd( cosAngle, ((vec_float4){2.0f,2.0f,2.0f,2.0f}), ((vec_float4){2.0f,2.0f,2.0f,2.0f}) ); + recipCosHalfAngleX2 = rsqrtf4( cosAngleX2Plus2 ); + cosHalfAngleX2 = vec_madd( recipCosHalfAngleX2, cosAngleX2Plus2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + vmathV3Cross( &tmpV3_0, unitVec0, unitVec1 ); + crossVec = tmpV3_0; + res = vec_madd( crossVec.vec128, recipCosHalfAngleX2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_sel( res, vec_madd( cosHalfAngleX2, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), _VECTORMATH_MASK_0x000F ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( _vmathVfSplatScalar(radians), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( vec_madd( unitVec->vec128, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c, _VECTORMATH_MASK_0x000F ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationX( VmathQuat *result, float radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( _vmathVfSplatScalar(radians), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0xF000 ); + res = vec_sel( res, c, _VECTORMATH_MASK_0x000F ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationY( VmathQuat *result, float radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( _vmathVfSplatScalar(radians), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0x0F00 ); + res = vec_sel( res, c, _VECTORMATH_MASK_0x000F ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationZ( VmathQuat *result, float radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( _vmathVfSplatScalar(radians), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0x00F0 ); + res = vec_sel( res, c, _VECTORMATH_MASK_0x000F ); + result->vec128 = res; +} + +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + vec_float4 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3; + vec_float4 product, l_wxyz, r_wxyz, xy, qw; + ldata = quat0->vec128; + rdata = quat1->vec128; + tmp0 = vec_perm( ldata, ldata, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( rdata, rdata, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( ldata, ldata, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( rdata, rdata, _VECTORMATH_PERM_YZXW ); + qv = vec_madd( vec_splat( ldata, 3 ), rdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_madd( ldata, rdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + l_wxyz = vec_sld( ldata, ldata, 12 ); + r_wxyz = vec_sld( rdata, rdata, 12 ); + qw = vec_nmsub( l_wxyz, r_wxyz, product ); + xy = vec_madd( l_wxyz, r_wxyz, product ); + qw = vec_sub( qw, vec_sld( xy, xy, 8 ) ); + result->vec128 = vec_sel( qv, qw, _VECTORMATH_MASK_0x000F ); +} + +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *quat, const VmathVector3 *vec ) +{ + vec_float4 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res; + qdata = quat->vec128; + vdata = vec->vec128; + tmp0 = vec_perm( qdata, qdata, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( vdata, vdata, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( qdata, qdata, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( vdata, vdata, _VECTORMATH_PERM_YZXW ); + wwww = vec_splat( qdata, 3 ); + qv = vec_madd( wwww, vdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_madd( qdata, vdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product ); + qw = vec_add( vec_sld( product, product, 8 ), qw ); + tmp1 = vec_perm( qv, qv, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( qv, qv, _VECTORMATH_PERM_YZXW ); + res = vec_madd( vec_splat( qw, 0 ), qdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( wwww, qv, res ); + res = vec_madd( tmp0, tmp1, res ); + res = vec_nmsub( tmp2, tmp3, res ); + result->vec128 = res; +} + +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = vec_xor( quat->vec128, ((vec_float4)(vec_int4){0x80000000,0x80000000,0x80000000,0}) ); +} + +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ) +{ + unsigned int tmp; + tmp = (unsigned int)-(select1 > 0); + result->vec128 = vec_sel( quat0->vec128, quat1->vec128, _vmathVuiSplatScalar(tmp) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint( const VmathQuat *quat ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = quat->vec128; + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +static inline void vmathQPrints( const VmathQuat *quat, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = quat->vec128; + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos_v.h new file mode 100644 index 000000000..04cf6ccf9 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_aos_v.h @@ -0,0 +1,312 @@ +/* + 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_V_C_H +#define _VECTORMATH_QUAT_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathQuat vmathQMakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathQuat result; + vmathQMakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathQuat result; + vmathQMakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ) +{ + VmathQuat result; + vmathQMakeFromV4(&result, &vec); + return result; +} + +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ) +{ + VmathQuat result; + vmathQMakeFromScalar(&result, scalar); + return result; +} + +static inline VmathQuat vmathQMakeFrom128_V( vec_float4 vf4 ) +{ + VmathQuat result; + vmathQMakeFrom128(&result, vf4); + return result; +} + +static inline VmathQuat vmathQMakeIdentity_V( ) +{ + VmathQuat result; + vmathQMakeIdentity(&result); + return result; +} + +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQLerp(&result, t, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ) +{ + VmathQuat result; + vmathQSlerp(&result, t, &unitQuat0, &unitQuat1); + return result; +} + +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ) +{ + VmathQuat result; + vmathQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3); + return result; +} + +static inline vec_float4 vmathQGet128_V( VmathQuat quat ) +{ + return vmathQGet128(&quat); +} + +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ) +{ + vmathQSetXYZ(result, &vec); +} + +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ) +{ + VmathVector3 result; + vmathQGetXYZ(&result, &quat); + return result; +} + +static inline void vmathQSetX_V( VmathQuat *result, float _x ) +{ + vmathQSetX(result, _x); +} + +static inline float vmathQGetX_V( VmathQuat quat ) +{ + return vmathQGetX(&quat); +} + +static inline void vmathQSetY_V( VmathQuat *result, float _y ) +{ + vmathQSetY(result, _y); +} + +static inline float vmathQGetY_V( VmathQuat quat ) +{ + return vmathQGetY(&quat); +} + +static inline void vmathQSetZ_V( VmathQuat *result, float _z ) +{ + vmathQSetZ(result, _z); +} + +static inline float vmathQGetZ_V( VmathQuat quat ) +{ + return vmathQGetZ(&quat); +} + +static inline void vmathQSetW_V( VmathQuat *result, float _w ) +{ + vmathQSetW(result, _w); +} + +static inline float vmathQGetW_V( VmathQuat quat ) +{ + return vmathQGetW(&quat); +} + +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ) +{ + vmathQSetElem(result, idx, value); +} + +static inline float vmathQGetElem_V( VmathQuat quat, int idx ) +{ + return vmathQGetElem(&quat, idx); +} + +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQAdd(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQSub(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarMul(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarDiv(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQNeg_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNeg(&result, &quat); + return result; +} + +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ) +{ + return vmathQDot(&quat0, &quat1); +} + +static inline float vmathQNorm_V( VmathQuat quat ) +{ + return vmathQNorm(&quat); +} + +static inline float vmathQLength_V( VmathQuat quat ) +{ + return vmathQLength(&quat); +} + +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNormalize(&result, &quat); + return result; +} + +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathQuat result; + vmathQMakeRotationArc(&result, &unitVec0, &unitVec1); + return result; +} + +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathQuat result; + vmathQMakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathQuat vmathQMakeRotationX_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationX(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationY_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationY(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationZ_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationZ(&result, radians); + return result; +} + +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQMul(&result, &quat0, &quat1); + return result; +} + +static inline VmathVector3 vmathQRotate_V( VmathQuat quat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathQRotate(&result, &quat, &vec); + return result; +} + +static inline VmathQuat vmathQConj_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQConj(&result, &quat); + return result; +} + +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ) +{ + VmathQuat result; + vmathQSelect(&result, &quat0, &quat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint_V( VmathQuat quat ) +{ + vmathQPrint(&quat); +} + +static inline void vmathQPrints_V( VmathQuat quat, const char *name ) +{ + vmathQPrints(&quat, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa.h new file mode 100644 index 000000000..334c17b01 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa.h @@ -0,0 +1,415 @@ +/* + 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_C_H +#define _VECTORMATH_QUAT_SOA_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathSoaQCopy( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathSoaQMakeFromElems( VmathSoaQuat *result, vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathSoaQMakeFromV3Scalar( VmathSoaQuat *result, const VmathSoaVector3 *xyz, vec_float4 _w ) +{ + vmathSoaQSetXYZ( result, xyz ); + vmathSoaQSetW( result, _w ); +} + +static inline void vmathSoaQMakeFromV4( VmathSoaQuat *result, const VmathSoaVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathSoaQMakeFromScalar( VmathSoaQuat *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathSoaQMakeFromAos( VmathSoaQuat *result, const VmathQuat *quat ) +{ + vec_float4 vec128 = quat->vec128; + result->x = vec_splat( vec128, 0 ); + result->y = vec_splat( vec128, 1 ); + result->z = vec_splat( vec128, 2 ); + result->w = vec_splat( vec128, 3 ); +} + +static inline void vmathSoaQMakeFrom4Aos( VmathSoaQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, const VmathQuat *quat2, const VmathQuat *quat3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( quat0->vec128, quat2->vec128 ); + tmp1 = vec_mergeh( quat1->vec128, quat3->vec128 ); + tmp2 = vec_mergel( quat0->vec128, quat2->vec128 ); + tmp3 = vec_mergel( quat1->vec128, quat3->vec128 ); + result->x = vec_mergeh( tmp0, tmp1 ); + result->y = vec_mergel( tmp0, tmp1 ); + result->z = vec_mergeh( tmp2, tmp3 ); + result->w = vec_mergel( tmp2, tmp3 ); +} + +static inline void vmathSoaQMakeIdentity( VmathSoaQuat *result ) +{ + vmathSoaQMakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaQLerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + VmathSoaQuat tmpQ_0, tmpQ_1; + vmathSoaQSub( &tmpQ_0, quat1, quat0 ); + vmathSoaQScalarMul( &tmpQ_1, &tmpQ_0, t ); + vmathSoaQAdd( result, quat0, &tmpQ_1 ); +} + +static inline void vmathSoaQSlerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1 ) +{ + VmathSoaQuat start, tmpQ_0, tmpQ_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaQDot( unitQuat0, unitQuat1 ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){0.0f,0.0f,0.0f,0.0f}, cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + vmathSoaQSetX( &start, vec_sel( unitQuat0->x, negatef4( unitQuat0->x ), selectMask ) ); + vmathSoaQSetY( &start, vec_sel( unitQuat0->y, negatef4( unitQuat0->y ), selectMask ) ); + vmathSoaQSetZ( &start, vec_sel( unitQuat0->z, negatef4( unitQuat0->z ), selectMask ) ); + vmathSoaQSetW( &start, vec_sel( unitQuat0->w, negatef4( unitQuat0->w ), selectMask ) ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + vmathSoaQScalarMul( &tmpQ_0, &start, scale0 ); + vmathSoaQScalarMul( &tmpQ_1, unitQuat1, scale1 ); + vmathSoaQAdd( result, &tmpQ_0, &tmpQ_1 ); +} + +static inline void vmathSoaQSquad( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1, const VmathSoaQuat *unitQuat2, const VmathSoaQuat *unitQuat3 ) +{ + VmathSoaQuat tmp0, tmp1; + vmathSoaQSlerp( &tmp0, t, unitQuat0, unitQuat3 ); + vmathSoaQSlerp( &tmp1, t, unitQuat1, unitQuat2 ); + vmathSoaQSlerp( result, vec_madd( vec_madd( ((vec_float4){2.0f,2.0f,2.0f,2.0f}), t, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), &tmp0, &tmp1 ); +} + +static inline void vmathSoaQGet4Aos( const VmathSoaQuat *quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( quat->x, quat->z ); + tmp1 = vec_mergeh( quat->y, quat->w ); + tmp2 = vec_mergel( quat->x, quat->z ); + tmp3 = vec_mergel( quat->y, quat->w ); + vmathQMakeFrom128( result0, vec_mergeh( tmp0, tmp1 ) ); + vmathQMakeFrom128( result1, vec_mergel( tmp0, tmp1 ) ); + vmathQMakeFrom128( result2, vec_mergeh( tmp2, tmp3 ) ); + vmathQMakeFrom128( result3, vec_mergel( tmp2, tmp3 ) ); +} + +static inline void vmathSoaQSetXYZ( VmathSoaQuat *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaQGetXYZ( VmathSoaVector3 *result, const VmathSoaQuat *quat ) +{ + vmathSoaV3MakeFromElems( result, quat->x, quat->y, quat->z ); +} + +static inline void vmathSoaQSetX( VmathSoaQuat *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaQGetX( const VmathSoaQuat *quat ) +{ + return quat->x; +} + +static inline void vmathSoaQSetY( VmathSoaQuat *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaQGetY( const VmathSoaQuat *quat ) +{ + return quat->y; +} + +static inline void vmathSoaQSetZ( VmathSoaQuat *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaQGetZ( const VmathSoaQuat *quat ) +{ + return quat->z; +} + +static inline void vmathSoaQSetW( VmathSoaQuat *result, vec_float4 _w ) +{ + result->w = _w; +} + +static inline vec_float4 vmathSoaQGetW( const VmathSoaQuat *quat ) +{ + return quat->w; +} + +static inline void vmathSoaQSetElem( VmathSoaQuat *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaQGetElem( const VmathSoaQuat *quat, int idx ) +{ + return *(&quat->x + idx); +} + +static inline void vmathSoaQAdd( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + result->x = vec_add( quat0->x, quat1->x ); + result->y = vec_add( quat0->y, quat1->y ); + result->z = vec_add( quat0->z, quat1->z ); + result->w = vec_add( quat0->w, quat1->w ); +} + +static inline void vmathSoaQSub( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + result->x = vec_sub( quat0->x, quat1->x ); + result->y = vec_sub( quat0->y, quat1->y ); + result->z = vec_sub( quat0->z, quat1->z ); + result->w = vec_sub( quat0->w, quat1->w ); +} + +static inline void vmathSoaQScalarMul( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ) +{ + result->x = vec_madd( quat->x, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( quat->y, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( quat->z, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->w = vec_madd( quat->w, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaQScalarDiv( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ) +{ + result->x = divf4( quat->x, scalar ); + result->y = divf4( quat->y, scalar ); + result->z = divf4( quat->z, scalar ); + result->w = divf4( quat->w, scalar ); +} + +static inline void vmathSoaQNeg( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + result->x = negatef4( quat->x ); + result->y = negatef4( quat->y ); + result->z = negatef4( quat->z ); + result->w = negatef4( quat->w ); +} + +static inline vec_float4 vmathSoaQDot( const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + vec_float4 result; + result = vec_madd( quat0->x, quat1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( quat0->y, quat1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat0->z, quat1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat0->w, quat1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaQNorm( const VmathSoaQuat *quat ) +{ + vec_float4 result; + result = vec_madd( quat->x, quat->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( quat->y, quat->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat->z, quat->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat->w, quat->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaQLength( const VmathSoaQuat *quat ) +{ + return sqrtf4( vmathSoaQNorm( quat ) ); +} + +static inline void vmathSoaQNormalize( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaQNorm( quat ); + lenInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + result->x = vec_madd( quat->x, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( quat->y, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( quat->z, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->w = vec_madd( quat->w, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaQMakeRotationArc( VmathSoaQuat *result, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vec_float4 cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf4( vec_madd( ((vec_float4){2.0f,2.0f,2.0f,2.0f}), vec_add( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vmathSoaV3Dot( unitVec0, unitVec1 ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + recipCosHalfAngleX2 = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), cosHalfAngleX2 ); + vmathSoaV3Cross( &tmpV3_0, unitVec0, unitVec1 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, recipCosHalfAngleX2 ); + vmathSoaQMakeFromV3Scalar( result, &tmpV3_1, vec_madd( cosHalfAngleX2, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathSoaQMakeRotationAxis( VmathSoaQuat *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + VmathSoaVector3 tmpV3_0; + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + vmathSoaV3ScalarMul( &tmpV3_0, unitVec, s ); + vmathSoaQMakeFromV3Scalar( result, &tmpV3_0, c ); +} + +static inline void vmathSoaQMakeRotationX( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); +} + +static inline void vmathSoaQMakeRotationY( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); +} + +static inline void vmathSoaQMakeRotationZ( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, c ); +} + +static inline void vmathSoaQMul( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = vec_sub( vec_add( vec_add( vec_madd( quat0->w, quat1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat0->x, quat1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->y, quat1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->z, quat1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_sub( vec_add( vec_add( vec_madd( quat0->w, quat1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat0->y, quat1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->z, quat1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->x, quat1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_sub( vec_add( vec_add( vec_madd( quat0->w, quat1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat0->z, quat1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->x, quat1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->y, quat1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpW = vec_sub( vec_sub( vec_sub( vec_madd( quat0->w, quat1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat0->x, quat1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->y, quat1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat0->z, quat1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaQMakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathSoaQRotate( VmathSoaVector3 *result, const VmathSoaQuat *quat, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = vec_sub( vec_add( vec_madd( quat->w, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat->y, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat->z, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_sub( vec_add( vec_madd( quat->w, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat->z, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat->x, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_sub( vec_add( vec_madd( quat->w, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat->x, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat->y, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpW = vec_add( vec_add( vec_madd( quat->x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat->y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat->z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->x = vec_add( vec_sub( vec_add( vec_madd( tmpW, quat->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpX, quat->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpY, quat->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpZ, quat->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->y = vec_add( vec_sub( vec_add( vec_madd( tmpW, quat->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpY, quat->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpZ, quat->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpX, quat->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result->z = vec_add( vec_sub( vec_add( vec_madd( tmpW, quat->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpZ, quat->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpX, quat->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpY, quat->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline void vmathSoaQConj( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + vmathSoaQMakeFromElems( result, negatef4( quat->x ), negatef4( quat->y ), negatef4( quat->z ), quat->w ); +} + +static inline void vmathSoaQSelect( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1, vec_uint4 select1 ) +{ + result->x = vec_sel( quat0->x, quat1->x, select1 ); + result->y = vec_sel( quat0->y, quat1->y, select1 ); + result->z = vec_sel( quat0->z, quat1->z, select1 ); + result->w = vec_sel( quat0->w, quat1->w, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaQPrint( const VmathSoaQuat *quat ) +{ + VmathQuat vec0, vec1, vec2, vec3; + vmathSoaQGet4Aos( quat, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathQPrint( &vec0 ); + printf("slot 1:\n"); + vmathQPrint( &vec1 ); + printf("slot 2:\n"); + vmathQPrint( &vec2 ); + printf("slot 3:\n"); + vmathQPrint( &vec3 ); +} + +static inline void vmathSoaQPrints( const VmathSoaQuat *quat, const char *name ) +{ + VmathQuat vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaQGet4Aos( quat, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathQPrint( &vec0 ); + printf("slot 1:\n"); + vmathQPrint( &vec1 ); + printf("slot 2:\n"); + vmathQPrint( &vec2 ); + printf("slot 3:\n"); + vmathQPrint( &vec3 ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa_v.h new file mode 100644 index 000000000..601d9da92 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/quat_soa_v.h @@ -0,0 +1,319 @@ +/* + 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_V_C_H +#define _VECTORMATH_QUAT_SOA_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathSoaQuat vmathSoaQMakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 _w ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromV4_V( VmathSoaVector4 vec ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromV4(&result, &vec); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromAos_V( VmathQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromAos(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFrom4Aos_V( VmathQuat quat0, VmathQuat quat1, VmathQuat quat2, VmathQuat quat3 ) +{ + VmathSoaQuat result; + vmathSoaQMakeFrom4Aos(&result, &quat0, &quat1, &quat2, &quat3); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeIdentity_V( ) +{ + VmathSoaQuat result; + vmathSoaQMakeIdentity(&result); + return result; +} + +static inline VmathSoaQuat vmathSoaQLerp_V( vec_float4 t, VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQLerp(&result, t, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSlerp_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1 ) +{ + VmathSoaQuat result; + vmathSoaQSlerp(&result, t, &unitQuat0, &unitQuat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSquad_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1, VmathSoaQuat unitQuat2, VmathSoaQuat unitQuat3 ) +{ + VmathSoaQuat result; + vmathSoaQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3); + return result; +} + +static inline void vmathSoaQGet4Aos_V( VmathSoaQuat quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ) +{ + vmathSoaQGet4Aos(&quat, result0, result1, result2, result3); +} + +static inline void vmathSoaQSetXYZ_V( VmathSoaQuat *result, VmathSoaVector3 vec ) +{ + vmathSoaQSetXYZ(result, &vec); +} + +static inline VmathSoaVector3 vmathSoaQGetXYZ_V( VmathSoaQuat quat ) +{ + VmathSoaVector3 result; + vmathSoaQGetXYZ(&result, &quat); + return result; +} + +static inline void vmathSoaQSetX_V( VmathSoaQuat *result, vec_float4 _x ) +{ + vmathSoaQSetX(result, _x); +} + +static inline vec_float4 vmathSoaQGetX_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetX(&quat); +} + +static inline void vmathSoaQSetY_V( VmathSoaQuat *result, vec_float4 _y ) +{ + vmathSoaQSetY(result, _y); +} + +static inline vec_float4 vmathSoaQGetY_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetY(&quat); +} + +static inline void vmathSoaQSetZ_V( VmathSoaQuat *result, vec_float4 _z ) +{ + vmathSoaQSetZ(result, _z); +} + +static inline vec_float4 vmathSoaQGetZ_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetZ(&quat); +} + +static inline void vmathSoaQSetW_V( VmathSoaQuat *result, vec_float4 _w ) +{ + vmathSoaQSetW(result, _w); +} + +static inline vec_float4 vmathSoaQGetW_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetW(&quat); +} + +static inline void vmathSoaQSetElem_V( VmathSoaQuat *result, int idx, vec_float4 value ) +{ + vmathSoaQSetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaQGetElem_V( VmathSoaQuat quat, int idx ) +{ + return vmathSoaQGetElem(&quat, idx); +} + +static inline VmathSoaQuat vmathSoaQAdd_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQAdd(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSub_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQSub(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQScalarMul_V( VmathSoaQuat quat, vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQScalarMul(&result, &quat, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQScalarDiv_V( VmathSoaQuat quat, vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQScalarDiv(&result, &quat, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQNeg_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQNeg(&result, &quat); + return result; +} + +static inline vec_float4 vmathSoaQDot_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + return vmathSoaQDot(&quat0, &quat1); +} + +static inline vec_float4 vmathSoaQNorm_V( VmathSoaQuat quat ) +{ + return vmathSoaQNorm(&quat); +} + +static inline vec_float4 vmathSoaQLength_V( VmathSoaQuat quat ) +{ + return vmathSoaQLength(&quat); +} + +static inline VmathSoaQuat vmathSoaQNormalize_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQNormalize(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationArc_V( VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationArc(&result, &unitVec0, &unitVec1); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationX_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationY_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMul_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQMul(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaVector3 vmathSoaQRotate_V( VmathSoaQuat quat, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaQRotate(&result, &quat, &vec); + return result; +} + +static inline VmathSoaQuat vmathSoaQConj_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQConj(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQSelect_V( VmathSoaQuat quat0, VmathSoaQuat quat1, vec_uint4 select1 ) +{ + VmathSoaQuat result; + vmathSoaQSelect(&result, &quat0, &quat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaQPrint_V( VmathSoaQuat quat ) +{ + vmathSoaQPrint(&quat); +} + +static inline void vmathSoaQPrints_V( VmathSoaQuat quat, const char *name ) +{ + vmathSoaQPrints(&quat, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos.h new file mode 100644 index 000000000..c7858cfe5 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos.h @@ -0,0 +1,1124 @@ +/* + 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_VEC_AOS_C_H +#define _VECTORMATH_VEC_AOS_C_H +#include +#include +#include +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for permutes words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A } +#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B } +#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C } +#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W } +#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 } +#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 } +#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 } +#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +static inline vec_float4 _vmathVfDot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0, vec1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_madd( vec_sld( vec0, vec0, 4 ), vec_sld( vec1, vec1, 4 ), result ); + return vec_madd( vec_sld( vec0, vec0, 8 ), vec_sld( vec1, vec1, 8 ), result ); +} + +static inline vec_float4 _vmathVfDot4( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0, vec1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_madd( vec_sld( vec0, vec0, 4 ), vec_sld( vec1, vec1, 4 ), result ); + return vec_add( vec_sld( result, result, 8 ), result ); +} + +static inline vec_float4 _vmathVfCross( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = vec_perm( vec0, vec0, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( vec1, vec1, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( vec0, vec0, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( vec1, vec1, _VECTORMATH_PERM_YZXW ); + result = vec_madd( tmp0, tmp1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_nmsub( tmp2, tmp3, result ); + return result; +} + +static inline vec_uint4 _vmathVfToHalfFloatsUnpacked(vec_float4 v) +{ + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = (vec_uint4){0x00007c00u,0x00007c00u,0x00007c00u,0x00007c00u}; + const vec_uint4 mergeMant = (vec_uint4){0x000003ffu,0x000003ffu,0x000003ffu,0x000003ffu}; + const vec_uint4 mergeSign = (vec_uint4){0x00008000u,0x00008000u,0x00008000u,0x00008000u}; + + sign = vec_sr((vec_uint4)v, (vec_uint4){16,16,16,16}); + mant = vec_sr((vec_uint4)v, (vec_uint4){13,13,13,13}); + bexp = vec_and(vec_sr((vec_int4)v, (vec_uint4){23,23,23,23}), (vec_int4){0xff,0xff,0xff,0xff}); + + notZero = (vec_uint4)vec_cmpgt(bexp, (vec_int4){112,112,112,112}); + isInf = (vec_uint4)vec_cmpgt(bexp, (vec_int4){142,142,142,142}); + + bexp = vec_add(bexp, (vec_int4){-112,-112,-112,-112}); + bexp = vec_sl(bexp, (vec_uint4){10,10,10,10}); + + hfloat = vec_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = vec_sel((vec_uint4){0,0,0,0}, hfloat, notZero); + hfloat = vec_sel(hfloat, hfloatInf, isInf); + hfloat = vec_sel(hfloat, sign, mergeSign); + + return hfloat; +} + +static inline vec_ushort8 _vmath2VfToHalfFloats(vec_float4 u, vec_float4 v) +{ + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)vec_perm(hfloat_u, hfloat_v, pack); +} + +#ifndef __GNUC__ +#define __builtin_constant_p(x) 0 +#endif + +static inline vec_float4 _vmathVfInsert(vec_float4 dst, vec_float4 src, int slot) +{ +#ifdef __GNUC__ + if (__builtin_constant_p(slot)) { + dst = vec_sld(dst, dst, slot<<2); + dst = vec_sld(dst, src, 4); + if (slot != 3) dst = vec_sld(dst, dst, (3-slot)<<2); + return dst; + } else +#endif + { + vec_uchar16 shiftpattern = vec_lvsr( 0, (float *)(size_t)(slot<<2) ); + vec_uint4 selectmask = (vec_uint4)vec_perm( (vec_uint4){0,0,0,0}, _VECTORMATH_MASK_0xF000, shiftpattern ); + return vec_sel( dst, src, selectmask ); + } +} + +#define _vmathVfGetElement(vec, slot) ((float *)&(vec))[slot] +#ifdef _VECTORMATH_SET_CONSTS_IN_MEM +#define _vmathVfSetElement(vec, scalar, slot) ((float *)&(vec))[slot] = scalar +#else +#define _vmathVfSetElement(vec, scalar, slot) \ +{ \ + if (__builtin_constant_p(scalar)) { \ + (vec) = _vmathVfInsert(vec, (vec_float4){scalar, scalar, scalar, scalar}, slot); \ + } else { \ + ((float *)&(vec))[slot] = scalar; \ + } \ +} +#endif + +static inline vec_float4 _vmathVfSplatScalar(float scalar) +{ + vec_float4 result; + if (__builtin_constant_p(scalar)) { + result = (vec_float4){scalar, scalar, scalar, scalar}; + } else { + result = vec_ld(0, &scalar); + result = vec_splat(vec_perm(result, result, vec_lvsl(0, &scalar)), 0); + } + return result; +} + +static inline vec_uint4 _vmathVuiSplatScalar(unsigned int scalar) +{ + vec_uint4 result; + if (__builtin_constant_p(scalar)) { + result = (vec_uint4){scalar, scalar, scalar, scalar}; + } else { + result = vec_ld(0, &scalar); + result = vec_splat(vec_perm(result, result, vec_lvsl(0, &scalar)), 0); + } + return result; +} + +#endif + +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV3MakeFromElems( VmathVector3 *result, float _x, float _y, float _z ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & __builtin_constant_p(_z)) { + result->vec128 = (vec_float4){_x, _y, _z, 0.0f}; + } else { + float *pf = (float *)&result->vec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + } +} + +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = pnt->vec128; +} + +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ) +{ + result->vec128 = _vmathVfSplatScalar(scalar); +} + +static inline void vmathV3MakeFrom128( VmathVector3 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathV3MakeXAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_1000; +} + +static inline void vmathV3MakeYAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0100; +} + +static inline void vmathV3MakeZAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0010; +} + +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathV3Sub( &tmpV3_0, vec1, vec0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathV3Add( result, vec0, &tmpV3_1 ); +} + +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot3( unitVec0->vec128, unitVec1->vec128 ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = _vmathVfSplatScalar(t); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + result->vec128 = vec_madd( unitVec0->vec128, scale0, vec_madd( unitVec1->vec128, scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline vec_float4 vmathV3Get128( const VmathVector3 *vec ) +{ + return vec->vec128; +} + +static inline void vmathV3StoreXYZ( const VmathVector3 *vec, vec_float4 *quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = _VECTORMATH_MASK_0x000F; + dstVec = vec_sel(vec->vec128, dstVec, mask); + *quad = dstVec; +} + +static inline void vmathV3LoadXYZArray( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = vec_sld( xyzx, yzxy, 12 ); + xyz2 = vec_sld( yzxy, zxyz, 8 ); + xyz3 = vec_sld( zxyz, zxyz, 4 ); + vec0->vec128 = xyzx; + vec1->vec128 = xyz1; + vec2->vec128 = xyz2; + vec3->vec128 = xyz3; +} + +static inline void vmathV3StoreXYZArray( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = vec_perm( vec0->vec128, vec1->vec128, _VECTORMATH_PERM_XYZA ); + yzxy = vec_perm( vec1->vec128, vec2->vec128, _VECTORMATH_PERM_YZAB ); + zxyz = vec_perm( vec2->vec128, vec3->vec128, _VECTORMATH_PERM_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathV3StoreHalfFloats( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, const VmathVector3 *vec4, const VmathVector3 *vec5, const VmathVector3 *vec6, const VmathVector3 *vec7, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathV3StoreXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + vmathV3StoreXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathV3SetX( VmathVector3 *result, float _x ) +{ + _vmathVfSetElement(result->vec128, _x, 0); +} + +static inline float vmathV3GetX( const VmathVector3 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 0); +} + +static inline void vmathV3SetY( VmathVector3 *result, float _y ) +{ + _vmathVfSetElement(result->vec128, _y, 1); +} + +static inline float vmathV3GetY( const VmathVector3 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 1); +} + +static inline void vmathV3SetZ( VmathVector3 *result, float _z ) +{ + _vmathVfSetElement(result->vec128, _z, 2); +} + +static inline float vmathV3GetZ( const VmathVector3 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 2); +} + +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ) +{ + _vmathVfSetElement(result->vec128, value, idx); +} + +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ) +{ + return _vmathVfGetElement(vec->vec128, idx); +} + +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = vec_add( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = vec_sub( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt1 ) +{ + result->vec128 = vec_add( vec->vec128, pnt1->vec128 ); +} + +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->vec128 = vec_madd( vec->vec128, _vmathVfSplatScalar(scalar), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->vec128 = divf4( vec->vec128, _vmathVfSplatScalar(scalar) ); +} + +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = negatef4( vec->vec128 ); +} + +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = vec_madd( vec0->vec128, vec1->vec128, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = divf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = recipf4( vec->vec128 ); +} + +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = sqrtf4( vec->vec128 ); +} + +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = rsqrtf4( vec->vec128 ); +} + +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = fabsf4( vec->vec128 ); +} + +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = copysignf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = fmaxf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV3MaxElem( const VmathVector3 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = fmaxf4( vec_splat( vec->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = fminf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV3MinElem( const VmathVector3 *vec ) +{ + vec_float4 result; + result = fminf4( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = fminf4( vec_splat( vec->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV3Sum( const VmathVector3 *vec ) +{ + vec_float4 result; + result = vec_add( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = vec_add( vec_splat( vec->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + vec_float4 result = _vmathVfDot3( vec0->vec128, vec1->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV3LengthSqr( const VmathVector3 *vec ) +{ + vec_float4 result = _vmathVfDot3( vec->vec128, vec->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV3Length( const VmathVector3 *vec ) +{ + return sqrtf( vmathV3LengthSqr( vec ) ); +} + +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ) +{ + vec_float4 dot = _vmathVfDot3( vec->vec128, vec->vec128 ); + dot = vec_splat( dot, 0 ); + result->vec128 = vec_madd( vec->vec128, rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = _vmathVfCross( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ) +{ + unsigned int tmp; + tmp = (unsigned int)-(select1 > 0); + result->vec128 = vec_sel( vec0->vec128, vec1->vec128, _vmathVuiSplatScalar(tmp) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print( const VmathVector3 *vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV4MakeFromElems( VmathVector4 *result, float _x, float _y, float _z, float _w ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & + __builtin_constant_p(_z) & __builtin_constant_p(_w)) { + result->vec128 = (vec_float4){_x, _y, _z, _w}; + } else { + float *pf = (float *)&result->vec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + pf[3] = _w; + } +} + +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float _w ) +{ + result->vec128 = xyz->vec128; + _vmathVfSetElement(result->vec128, _w, 3); +} + +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec->vec128; + result->vec128 = _vmathVfInsert(result->vec128, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), 3); +} + +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = pnt->vec128; + result->vec128 = _vmathVfInsert(result->vec128, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), 3); +} + +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ) +{ + result->vec128 = _vmathVfSplatScalar(scalar); +} + +static inline void vmathV4MakeFrom128( VmathVector4 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathV4MakeXAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_1000; +} + +static inline void vmathV4MakeYAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0100; +} + +static inline void vmathV4MakeZAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0010; +} + +static inline void vmathV4MakeWAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0001; +} + +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + VmathVector4 tmpV4_0, tmpV4_1; + vmathV4Sub( &tmpV4_0, vec1, vec0 ); + vmathV4ScalarMul( &tmpV4_1, &tmpV4_0, t ); + vmathV4Add( result, vec0, &tmpV4_1 ); +} + +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ) +{ + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot4( unitVec0->vec128, unitVec1->vec128 ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = _vmathVfSplatScalar(t); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + result->vec128 = vec_madd( unitVec0->vec128, scale0, vec_madd( unitVec1->vec128, scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +static inline vec_float4 vmathV4Get128( const VmathVector4 *vec ) +{ + return vec->vec128; +} + +static inline void vmathV4StoreHalfFloats( const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3, vec_ushort8 *twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0->vec128, vec1->vec128); + twoQuads[1] = _vmath2VfToHalfFloats(vec2->vec128, vec3->vec128); +} + +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec_sel( vec->vec128, result->vec128, _VECTORMATH_MASK_0x000F ); +} + +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV4SetX( VmathVector4 *result, float _x ) +{ + _vmathVfSetElement(result->vec128, _x, 0); +} + +static inline float vmathV4GetX( const VmathVector4 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 0); +} + +static inline void vmathV4SetY( VmathVector4 *result, float _y ) +{ + _vmathVfSetElement(result->vec128, _y, 1); +} + +static inline float vmathV4GetY( const VmathVector4 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 1); +} + +static inline void vmathV4SetZ( VmathVector4 *result, float _z ) +{ + _vmathVfSetElement(result->vec128, _z, 2); +} + +static inline float vmathV4GetZ( const VmathVector4 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 2); +} + +static inline void vmathV4SetW( VmathVector4 *result, float _w ) +{ + _vmathVfSetElement(result->vec128, _w, 3); +} + +static inline float vmathV4GetW( const VmathVector4 *vec ) +{ + return _vmathVfGetElement(vec->vec128, 3); +} + +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ) +{ + _vmathVfSetElement(result->vec128, value, idx); +} + +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ) +{ + return _vmathVfGetElement(vec->vec128, idx); +} + +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = vec_add( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = vec_sub( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->vec128 = vec_madd( vec->vec128, _vmathVfSplatScalar(scalar), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->vec128 = divf4( vec->vec128, _vmathVfSplatScalar(scalar) ); +} + +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = negatef4( vec->vec128 ); +} + +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = vec_madd( vec0->vec128, vec1->vec128, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = divf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = recipf4( vec->vec128 ); +} + +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = sqrtf4( vec->vec128 ); +} + +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = rsqrtf4( vec->vec128 ); +} + +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = fabsf4( vec->vec128 ); +} + +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = copysignf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = fmaxf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV4MaxElem( const VmathVector4 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = fmaxf4( vec_splat( vec->vec128, 2 ), result ); + result = fmaxf4( vec_splat( vec->vec128, 3 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = fminf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV4MinElem( const VmathVector4 *vec ) +{ + vec_float4 result; + result = fminf4( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = fminf4( vec_splat( vec->vec128, 2 ), result ); + result = fminf4( vec_splat( vec->vec128, 3 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV4Sum( const VmathVector4 *vec ) +{ + vec_float4 result; + result = vec_add( vec_splat( vec->vec128, 1 ), vec->vec128 ); + result = vec_add( vec_splat( vec->vec128, 2 ), result ); + result = vec_add( vec_splat( vec->vec128, 3 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + vec_float4 result = _vmathVfDot4( vec0->vec128, vec1->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV4LengthSqr( const VmathVector4 *vec ) +{ + vec_float4 result = _vmathVfDot4( vec->vec128, vec->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathV4Length( const VmathVector4 *vec ) +{ + return sqrtf( vmathV4LengthSqr( vec ) ); +} + +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ) +{ + vec_float4 dot = _vmathVfDot4( vec->vec128, vec->vec128 ); + result->vec128 = vec_madd( vec->vec128, rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ) +{ + unsigned int tmp; + tmp = (unsigned int)-(select1 > 0); + result->vec128 = vec_sel( vec0->vec128, vec1->vec128, _vmathVuiSplatScalar(tmp) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print( const VmathVector4 *vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = pnt->vec128; +} + +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float _x, float _y, float _z ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & __builtin_constant_p(_z)) { + result->vec128 = (vec_float4){_x, _y, _z, 0.0f}; + } else { + float *pf = (float *)&result->vec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + } +} + +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ) +{ + result->vec128 = _vmathVfSplatScalar(scalar); +} + +static inline void vmathP3MakeFrom128( VmathPoint3 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathP3AddV3( result, pnt0, &tmpV3_1 ); +} + +static inline vec_float4 vmathP3Get128( const VmathPoint3 *pnt ) +{ + return pnt->vec128; +} + +static inline void vmathP3StoreXYZ( const VmathPoint3 *pnt, vec_float4 *quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = _VECTORMATH_MASK_0x000F; + dstVec = vec_sel(pnt->vec128, dstVec, mask); + *quad = dstVec; +} + +static inline void vmathP3LoadXYZArray( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = vec_sld( xyzx, yzxy, 12 ); + xyz2 = vec_sld( yzxy, zxyz, 8 ); + xyz3 = vec_sld( zxyz, zxyz, 4 ); + pnt0->vec128 = xyzx; + pnt1->vec128 = xyz1; + pnt2->vec128 = xyz2; + pnt3->vec128 = xyz3; +} + +static inline void vmathP3StoreXYZArray( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = vec_perm( pnt0->vec128, pnt1->vec128, _VECTORMATH_PERM_XYZA ); + yzxy = vec_perm( pnt1->vec128, pnt2->vec128, _VECTORMATH_PERM_YZAB ); + zxyz = vec_perm( pnt2->vec128, pnt3->vec128, _VECTORMATH_PERM_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathP3StoreHalfFloats( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, const VmathPoint3 *pnt4, const VmathPoint3 *pnt5, const VmathPoint3 *pnt6, const VmathPoint3 *pnt7, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathP3StoreXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + vmathP3StoreXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathP3SetX( VmathPoint3 *result, float _x ) +{ + _vmathVfSetElement(result->vec128, _x, 0); +} + +static inline float vmathP3GetX( const VmathPoint3 *pnt ) +{ + return _vmathVfGetElement(pnt->vec128, 0); +} + +static inline void vmathP3SetY( VmathPoint3 *result, float _y ) +{ + _vmathVfSetElement(result->vec128, _y, 1); +} + +static inline float vmathP3GetY( const VmathPoint3 *pnt ) +{ + return _vmathVfGetElement(pnt->vec128, 1); +} + +static inline void vmathP3SetZ( VmathPoint3 *result, float _z ) +{ + _vmathVfSetElement(result->vec128, _z, 2); +} + +static inline float vmathP3GetZ( const VmathPoint3 *pnt ) +{ + return _vmathVfGetElement(pnt->vec128, 2); +} + +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ) +{ + _vmathVfSetElement(result->vec128, value, idx); +} + +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ) +{ + return _vmathVfGetElement(pnt->vec128, idx); +} + +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = vec_sub( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->vec128 = vec_add( pnt->vec128, vec1->vec128 ); +} + +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->vec128 = vec_sub( pnt->vec128, vec1->vec128 ); +} + +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = vec_madd( pnt0->vec128, pnt1->vec128, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = divf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = recipf4( pnt->vec128 ); +} + +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = sqrtf4( pnt->vec128 ); +} + +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = rsqrtf4( pnt->vec128 ); +} + +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = fabsf4( pnt->vec128 ); +} + +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = copysignf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = fmaxf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( pnt->vec128, 1 ), pnt->vec128 ); + result = fmaxf4( vec_splat( pnt->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = fminf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline float vmathP3MinElem( const VmathPoint3 *pnt ) +{ + vec_float4 result; + result = fminf4( vec_splat( pnt->vec128, 1 ), pnt->vec128 ); + result = fminf4( vec_splat( pnt->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathP3Sum( const VmathPoint3 *pnt ) +{ + vec_float4 result; + result = vec_add( vec_splat( pnt->vec128, 1 ), pnt->vec128 ); + result = vec_add( vec_splat( pnt->vec128, 2 ), result ); + return _vmathVfGetElement(result, 0); +} + +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromScalar( &tmpP3_0, scaleVal ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromV3( &tmpP3_0, scaleVec ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ) +{ + vec_float4 result = _vmathVfDot3( pnt->vec128, unitVec->vec128 ); + return _vmathVfGetElement(result, 0); +} + +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ) +{ + unsigned int tmp; + tmp = (unsigned int)-(select1 > 0); + result->vec128 = vec_sel( pnt0->vec128, pnt1->vec128, _vmathVuiSplatScalar(tmp) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print( const VmathPoint3 *pnt ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt->vec128; + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt->vec128; + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos_v.h new file mode 100644 index 000000000..6dcc79c72 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos_v.h @@ -0,0 +1,953 @@ +/* + 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_VEC_AOS_V_C_H +#define _VECTORMATH_VEC_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for permutes words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A } +#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B } +#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C } +#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W } +#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 } +#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 } +#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 } +#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathVector3 vmathV3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathVector3 result; + vmathV3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector3 result; + vmathV3MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ) +{ + VmathVector3 result; + vmathV3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector3 vmathV3MakeFrom128_V( vec_float4 vf4 ) +{ + VmathVector3 result; + vmathV3MakeFrom128(&result, vf4); + return result; +} + +static inline VmathVector3 vmathV3MakeXAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeXAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeYAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeYAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeZAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeZAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathVector3 result; + vmathV3Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline vec_float4 vmathV3Get128_V( VmathVector3 vec ) +{ + return vmathV3Get128(&vec); +} + +static inline void vmathV3StoreXYZ_V( VmathVector3 vec, vec_float4 *quad ) +{ + vmathV3StoreXYZ(&vec, quad); +} + +static inline void vmathV3LoadXYZArray_V( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ) +{ + vmathV3LoadXYZArray(vec0, vec1, vec2, vec3, threeQuads); +} + +static inline void vmathV3StoreXYZArray_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, vec_float4 *threeQuads ) +{ + vmathV3StoreXYZArray(&vec0, &vec1, &vec2, &vec3, threeQuads); +} + +static inline void vmathV3StoreHalfFloats_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, VmathVector3 vec4, VmathVector3 vec5, VmathVector3 vec6, VmathVector3 vec7, vec_ushort8 *threeQuads ) +{ + vmathV3StoreHalfFloats(&vec0, &vec1, &vec2, &vec3, &vec4, &vec5, &vec6, &vec7, threeQuads); +} + +static inline void vmathV3SetX_V( VmathVector3 *result, float _x ) +{ + vmathV3SetX(result, _x); +} + +static inline float vmathV3GetX_V( VmathVector3 vec ) +{ + return vmathV3GetX(&vec); +} + +static inline void vmathV3SetY_V( VmathVector3 *result, float _y ) +{ + vmathV3SetY(result, _y); +} + +static inline float vmathV3GetY_V( VmathVector3 vec ) +{ + return vmathV3GetY(&vec); +} + +static inline void vmathV3SetZ_V( VmathVector3 *result, float _z ) +{ + vmathV3SetZ(result, _z); +} + +static inline float vmathV3GetZ_V( VmathVector3 vec ) +{ + return vmathV3GetZ(&vec); +} + +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ) +{ + vmathV3SetElem(result, idx, value); +} + +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ) +{ + return vmathV3GetElem(&vec, idx); +} + +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathV3AddP3(&result, &vec, &pnt1); + return result; +} + +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Neg(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MaxElem_V( VmathVector3 vec ) +{ + return vmathV3MaxElem(&vec); +} + +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MinElem_V( VmathVector3 vec ) +{ + return vmathV3MinElem(&vec); +} + +static inline float vmathV3Sum_V( VmathVector3 vec ) +{ + return vmathV3Sum(&vec); +} + +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + return vmathV3Dot(&vec0, &vec1); +} + +static inline float vmathV3LengthSqr_V( VmathVector3 vec ) +{ + return vmathV3LengthSqr(&vec); +} + +static inline float vmathV3Length_V( VmathVector3 vec ) +{ + return vmathV3Length(&vec); +} + +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Normalize(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Cross(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ) +{ + VmathVector3 result; + vmathV3Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print_V( VmathVector3 vec ) +{ + vmathV3Print(&vec); +} + +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ) +{ + vmathV3Prints(&vec, name); +} + +#endif + +static inline VmathVector4 vmathV4MakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ) +{ + VmathVector4 result; + vmathV4MakeFromV3(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathV4MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ) +{ + VmathVector4 result; + vmathV4MakeFromQ(&result, &quat); + return result; +} + +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ) +{ + VmathVector4 result; + vmathV4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector4 vmathV4MakeFrom128_V( vec_float4 vf4 ) +{ + VmathVector4 result; + vmathV4MakeFrom128(&result, vf4); + return result; +} + +static inline VmathVector4 vmathV4MakeXAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeXAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeYAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeYAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeZAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeZAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeWAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeWAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ) +{ + VmathVector4 result; + vmathV4Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline vec_float4 vmathV4Get128_V( VmathVector4 vec ) +{ + return vmathV4Get128(&vec); +} + +static inline void vmathV4StoreHalfFloats_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3, vec_ushort8 *twoQuads ) +{ + vmathV4StoreHalfFloats(&vec0, &vec1, &vec2, &vec3, twoQuads); +} + +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ) +{ + vmathV4SetXYZ(result, &vec); +} + +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ) +{ + VmathVector3 result; + vmathV4GetXYZ(&result, &vec); + return result; +} + +static inline void vmathV4SetX_V( VmathVector4 *result, float _x ) +{ + vmathV4SetX(result, _x); +} + +static inline float vmathV4GetX_V( VmathVector4 vec ) +{ + return vmathV4GetX(&vec); +} + +static inline void vmathV4SetY_V( VmathVector4 *result, float _y ) +{ + vmathV4SetY(result, _y); +} + +static inline float vmathV4GetY_V( VmathVector4 vec ) +{ + return vmathV4GetY(&vec); +} + +static inline void vmathV4SetZ_V( VmathVector4 *result, float _z ) +{ + vmathV4SetZ(result, _z); +} + +static inline float vmathV4GetZ_V( VmathVector4 vec ) +{ + return vmathV4GetZ(&vec); +} + +static inline void vmathV4SetW_V( VmathVector4 *result, float _w ) +{ + vmathV4SetW(result, _w); +} + +static inline float vmathV4GetW_V( VmathVector4 vec ) +{ + return vmathV4GetW(&vec); +} + +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ) +{ + vmathV4SetElem(result, idx, value); +} + +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ) +{ + return vmathV4GetElem(&vec, idx); +} + +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Neg(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MaxElem_V( VmathVector4 vec ) +{ + return vmathV4MaxElem(&vec); +} + +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MinElem_V( VmathVector4 vec ) +{ + return vmathV4MinElem(&vec); +} + +static inline float vmathV4Sum_V( VmathVector4 vec ) +{ + return vmathV4Sum(&vec); +} + +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + return vmathV4Dot(&vec0, &vec1); +} + +static inline float vmathV4LengthSqr_V( VmathVector4 vec ) +{ + return vmathV4LengthSqr(&vec); +} + +static inline float vmathV4Length_V( VmathVector4 vec ) +{ + return vmathV4Length(&vec); +} + +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Normalize(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ) +{ + VmathVector4 result; + vmathV4Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print_V( VmathVector4 vec ) +{ + vmathV4Print(&vec); +} + +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ) +{ + vmathV4Prints(&vec, name); +} + +#endif + +static inline VmathPoint3 vmathP3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathPoint3 result; + vmathP3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ) +{ + VmathPoint3 result; + vmathP3MakeFromV3(&result, &vec); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ) +{ + VmathPoint3 result; + vmathP3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathPoint3 vmathP3MakeFrom128_V( vec_float4 vf4 ) +{ + VmathPoint3 result; + vmathP3MakeFrom128(&result, vf4); + return result; +} + +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3Lerp(&result, t, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathP3Get128_V( VmathPoint3 pnt ) +{ + return vmathP3Get128(&pnt); +} + +static inline void vmathP3StoreXYZ_V( VmathPoint3 pnt, vec_float4 *quad ) +{ + vmathP3StoreXYZ(&pnt, quad); +} + +static inline void vmathP3LoadXYZArray_V( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ) +{ + vmathP3LoadXYZArray(pnt0, pnt1, pnt2, pnt3, threeQuads); +} + +static inline void vmathP3StoreXYZArray_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, vec_float4 *threeQuads ) +{ + vmathP3StoreXYZArray(&pnt0, &pnt1, &pnt2, &pnt3, threeQuads); +} + +static inline void vmathP3StoreHalfFloats_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, VmathPoint3 pnt4, VmathPoint3 pnt5, VmathPoint3 pnt6, VmathPoint3 pnt7, vec_ushort8 *threeQuads ) +{ + vmathP3StoreHalfFloats(&pnt0, &pnt1, &pnt2, &pnt3, &pnt4, &pnt5, &pnt6, &pnt7, threeQuads); +} + +static inline void vmathP3SetX_V( VmathPoint3 *result, float _x ) +{ + vmathP3SetX(result, _x); +} + +static inline float vmathP3GetX_V( VmathPoint3 pnt ) +{ + return vmathP3GetX(&pnt); +} + +static inline void vmathP3SetY_V( VmathPoint3 *result, float _y ) +{ + vmathP3SetY(result, _y); +} + +static inline float vmathP3GetY_V( VmathPoint3 pnt ) +{ + return vmathP3GetY(&pnt); +} + +static inline void vmathP3SetZ_V( VmathPoint3 *result, float _z ) +{ + vmathP3SetZ(result, _z); +} + +static inline float vmathP3GetZ_V( VmathPoint3 pnt ) +{ + return vmathP3GetZ(&pnt); +} + +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ) +{ + vmathP3SetElem(result, idx, value); +} + +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ) +{ + return vmathP3GetElem(&pnt, idx); +} + +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathVector3 result; + vmathP3Sub(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3AddV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3SubV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MulPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3DivPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RecipPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3SqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RsqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3AbsPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3CopySignPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MaxPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ) +{ + return vmathP3MaxElem(&pnt); +} + +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MinPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MinElem_V( VmathPoint3 pnt ) +{ + return vmathP3MinElem(&pnt); +} + +static inline float vmathP3Sum_V( VmathPoint3 pnt ) +{ + return vmathP3Sum(&pnt); +} + +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ) +{ + VmathPoint3 result; + vmathP3Scale(&result, &pnt, scaleVal); + return result; +} + +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ) +{ + VmathPoint3 result; + vmathP3NonUniformScale(&result, &pnt, &scaleVec); + return result; +} + +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ) +{ + return vmathP3Projection(&pnt, &unitVec); +} + +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistSqrFromOrigin(&pnt); +} + +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistFromOrigin(&pnt); +} + +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3DistSqr(&pnt0, &pnt1); +} + +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3Dist(&pnt0, &pnt1); +} + +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ) +{ + VmathPoint3 result; + vmathP3Select(&result, &pnt0, &pnt1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print_V( VmathPoint3 pnt ) +{ + vmathP3Print(&pnt); +} + +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ) +{ + vmathP3Prints(&pnt, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa.h new file mode 100644 index 000000000..1cda25747 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa.h @@ -0,0 +1,1223 @@ +/* + 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_VEC_SOA_C_H +#define _VECTORMATH_VEC_SOA_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for permutes, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZDWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZCXA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XBZD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WDYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WCYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B }) +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathSoaV3Copy( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaV3MakeFromElems( VmathSoaVector3 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathSoaV3MakeFromP3( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathSoaV3MakeFromScalar( VmathSoaVector3 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathSoaV3MakeFromAos( VmathSoaVector3 *result, const VmathVector3 *vec ) +{ + vec_float4 vec128 = vec->vec128; + result->x = vec_splat( vec128, 0 ); + result->y = vec_splat( vec128, 1 ); + result->z = vec_splat( vec128, 2 ); +} + +static inline void vmathSoaV3MakeFrom4Aos( VmathSoaVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( vec0->vec128, vec2->vec128 ); + tmp1 = vec_mergeh( vec1->vec128, vec3->vec128 ); + tmp2 = vec_mergel( vec0->vec128, vec2->vec128 ); + tmp3 = vec_mergel( vec1->vec128, vec3->vec128 ); + result->x = vec_mergeh( tmp0, tmp1 ); + result->y = vec_mergel( tmp0, tmp1 ); + result->z = vec_mergeh( tmp2, tmp3 ); +} + +static inline void vmathSoaV3MakeXAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3MakeYAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3MakeZAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaV3Lerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vmathSoaV3Sub( &tmpV3_0, vec1, vec0 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathSoaV3Add( result, vec0, &tmpV3_1 ); +} + +static inline void vmathSoaV3Slerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaV3Dot( unitVec0, unitVec1 ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + vmathSoaV3ScalarMul( &tmpV3_0, unitVec0, scale0 ); + vmathSoaV3ScalarMul( &tmpV3_1, unitVec1, scale1 ); + vmathSoaV3Add( result, &tmpV3_0, &tmpV3_1 ); +} + +static inline void vmathSoaV3Get4Aos( const VmathSoaVector3 *vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ) +{ + vec_float4 tmp0, tmp1; + tmp0 = vec_mergeh( vec->x, vec->z ); + tmp1 = vec_mergel( vec->x, vec->z ); + vmathV3MakeFrom128( result0, vec_mergeh( tmp0, vec->y ) ); + vmathV3MakeFrom128( result1, vec_perm( tmp0, vec->y, _VECTORMATH_PERM_ZBWX ) ); + vmathV3MakeFrom128( result2, vec_perm( tmp1, vec->y, _VECTORMATH_PERM_XCYX ) ); + vmathV3MakeFrom128( result3, vec_perm( tmp1, vec->y, _VECTORMATH_PERM_ZDWX ) ); +} + +static inline void vmathSoaV3LoadXYZArray( VmathSoaVector3 *vec, const vec_float4 *threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = vec_sld( yzxy, xyzx, 8 ); + zxzx = vec_sld( xyzx, zxyz, 8 ); + yzyz = vec_sld( zxyz, yzxy, 8 ); + vmathSoaV3SetX( vec, vec_perm( xyxy, zxzx, _VECTORMATH_PERM_ZBXD ) ); + vmathSoaV3SetY( vec, vec_perm( xyxy, yzyz, _VECTORMATH_PERM_WCYA ) ); + vmathSoaV3SetZ( vec, vec_perm( zxzx, yzyz, _VECTORMATH_PERM_XDZB ) ); +} + +static inline void vmathSoaV3StoreXYZArray( const VmathSoaVector3 *vec, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = vec_perm( vec->x, vec->y, _VECTORMATH_PERM_ZCXA ); + zxzx = vec_perm( vec->z, vec->x, _VECTORMATH_PERM_XBZD ); + yzyz = vec_perm( vec->y, vec->z, _VECTORMATH_PERM_WDYB ); + xyzx = vec_sld( xyxy, zxzx, 8 ); + yzxy = vec_sld( yzyz, xyxy, 8 ); + zxyz = vec_sld( zxzx, yzyz, 8 ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathSoaV3StoreHalfFloats( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathSoaV3StoreXYZArray( vec0, xyz0 ); + vmathSoaV3StoreXYZArray( vec1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathSoaV3SetX( VmathSoaVector3 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaV3GetX( const VmathSoaVector3 *vec ) +{ + return vec->x; +} + +static inline void vmathSoaV3SetY( VmathSoaVector3 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaV3GetY( const VmathSoaVector3 *vec ) +{ + return vec->y; +} + +static inline void vmathSoaV3SetZ( VmathSoaVector3 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaV3GetZ( const VmathSoaVector3 *vec ) +{ + return vec->z; +} + +static inline void vmathSoaV3SetElem( VmathSoaVector3 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaV3GetElem( const VmathSoaVector3 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathSoaV3Add( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = vec_add( vec0->x, vec1->x ); + result->y = vec_add( vec0->y, vec1->y ); + result->z = vec_add( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3Sub( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = vec_sub( vec0->x, vec1->x ); + result->y = vec_sub( vec0->y, vec1->y ); + result->z = vec_sub( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3AddP3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec, const VmathSoaPoint3 *pnt1 ) +{ + result->x = vec_add( vec->x, pnt1->x ); + result->y = vec_add( vec->y, pnt1->y ); + result->z = vec_add( vec->z, pnt1->z ); +} + +static inline void vmathSoaV3ScalarMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ) +{ + result->x = vec_madd( vec->x, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec->y, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec->z, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3ScalarDiv( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ) +{ + result->x = divf4( vec->x, scalar ); + result->y = divf4( vec->y, scalar ); + result->z = divf4( vec->z, scalar ); +} + +static inline void vmathSoaV3Neg( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = negatef4( vec->x ); + result->y = negatef4( vec->y ); + result->z = negatef4( vec->z ); +} + +static inline void vmathSoaV3MulPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = vec_madd( vec0->x, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec0->y, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec0->z, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3DivPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = divf4( vec0->x, vec1->x ); + result->y = divf4( vec0->y, vec1->y ); + result->z = divf4( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3RecipPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->x ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->y ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->z ); +} + +static inline void vmathSoaV3SqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = sqrtf4( vec->x ); + result->y = sqrtf4( vec->y ); + result->z = sqrtf4( vec->z ); +} + +static inline void vmathSoaV3RsqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->x ) ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->y ) ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->z ) ); +} + +static inline void vmathSoaV3AbsPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = fabsf4( vec->x ); + result->y = fabsf4( vec->y ); + result->z = fabsf4( vec->z ); +} + +static inline void vmathSoaV3CopySignPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = copysignf4( vec0->x, vec1->x ); + result->y = copysignf4( vec0->y, vec1->y ); + result->z = copysignf4( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3MaxPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = fmaxf4( vec0->x, vec1->x ); + result->y = fmaxf4( vec0->y, vec1->y ); + result->z = fmaxf4( vec0->z, vec1->z ); +} + +static inline vec_float4 vmathSoaV3MaxElem( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec->x, vec->y ); + result = fmaxf4( vec->z, result ); + return result; +} + +static inline void vmathSoaV3MinPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = fminf4( vec0->x, vec1->x ); + result->y = fminf4( vec0->y, vec1->y ); + result->z = fminf4( vec0->z, vec1->z ); +} + +static inline vec_float4 vmathSoaV3MinElem( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = fminf4( vec->x, vec->y ); + result = fminf4( vec->z, result ); + return result; +} + +static inline vec_float4 vmathSoaV3Sum( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = vec_add( vec->x, vec->y ); + result = vec_add( result, vec->z ); + return result; +} + +static inline vec_float4 vmathSoaV3Dot( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0->x, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec0->y, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0->z, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaV3LengthSqr( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = vec_madd( vec->x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec->y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec->z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaV3Length( const VmathSoaVector3 *vec ) +{ + return sqrtf4( vmathSoaV3LengthSqr( vec ) ); +} + +static inline void vmathSoaV3Normalize( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaV3LengthSqr( vec ); + lenInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + result->x = vec_madd( vec->x, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec->y, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec->z, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV3Cross( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = vec_sub( vec_madd( vec0->y, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0->z, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_sub( vec_madd( vec0->z, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0->x, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_sub( vec_madd( vec0->x, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0->y, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaV3Select( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_uint4 select1 ) +{ + result->x = vec_sel( vec0->x, vec1->x, select1 ); + result->y = vec_sel( vec0->y, vec1->y, select1 ); + result->z = vec_sel( vec0->z, vec1->z, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV3Print( const VmathSoaVector3 *vec ) +{ + VmathVector3 vec0, vec1, vec2, vec3; + vmathSoaV3Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV3Print( &vec0 ); + printf("slot 1:\n"); + vmathV3Print( &vec1 ); + printf("slot 2:\n"); + vmathV3Print( &vec2 ); + printf("slot 3:\n"); + vmathV3Print( &vec3 ); +} + +static inline void vmathSoaV3Prints( const VmathSoaVector3 *vec, const char *name ) +{ + VmathVector3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaV3Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV3Print( &vec0 ); + printf("slot 1:\n"); + vmathV3Print( &vec1 ); + printf("slot 2:\n"); + vmathV3Print( &vec2 ); + printf("slot 3:\n"); + vmathV3Print( &vec3 ); +} + +#endif + +static inline void vmathSoaV4Copy( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathSoaV4MakeFromElems( VmathSoaVector4 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathSoaV4MakeFromV3Scalar( VmathSoaVector4 *result, const VmathSoaVector3 *xyz, vec_float4 _w ) +{ + vmathSoaV4SetXYZ( result, xyz ); + vmathSoaV4SetW( result, _w ); +} + +static inline void vmathSoaV4MakeFromV3( VmathSoaVector4 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); +} + +static inline void vmathSoaV4MakeFromP3( VmathSoaVector4 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; + result->w = ((vec_float4){1.0f,1.0f,1.0f,1.0f}); +} + +static inline void vmathSoaV4MakeFromQ( VmathSoaVector4 *result, const VmathSoaQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathSoaV4MakeFromScalar( VmathSoaVector4 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathSoaV4MakeFromAos( VmathSoaVector4 *result, const VmathVector4 *vec ) +{ + vec_float4 vec128 = vec->vec128; + result->x = vec_splat( vec128, 0 ); + result->y = vec_splat( vec128, 1 ); + result->z = vec_splat( vec128, 2 ); + result->w = vec_splat( vec128, 3 ); +} + +static inline void vmathSoaV4MakeFrom4Aos( VmathSoaVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( vec0->vec128, vec2->vec128 ); + tmp1 = vec_mergeh( vec1->vec128, vec3->vec128 ); + tmp2 = vec_mergel( vec0->vec128, vec2->vec128 ); + tmp3 = vec_mergel( vec1->vec128, vec3->vec128 ); + result->x = vec_mergeh( tmp0, tmp1 ); + result->y = vec_mergel( tmp0, tmp1 ); + result->z = vec_mergeh( tmp2, tmp3 ); + result->w = vec_mergel( tmp2, tmp3 ); +} + +static inline void vmathSoaV4MakeXAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4MakeYAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4MakeZAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4MakeWAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +static inline void vmathSoaV4Lerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + VmathSoaVector4 tmpV4_0, tmpV4_1; + vmathSoaV4Sub( &tmpV4_0, vec1, vec0 ); + vmathSoaV4ScalarMul( &tmpV4_1, &tmpV4_0, t ); + vmathSoaV4Add( result, vec0, &tmpV4_1 ); +} + +static inline void vmathSoaV4Slerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *unitVec0, const VmathSoaVector4 *unitVec1 ) +{ + VmathSoaVector4 tmpV4_0, tmpV4_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaV4Dot( unitVec0, unitVec1 ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + vmathSoaV4ScalarMul( &tmpV4_0, unitVec0, scale0 ); + vmathSoaV4ScalarMul( &tmpV4_1, unitVec1, scale1 ); + vmathSoaV4Add( result, &tmpV4_0, &tmpV4_1 ); +} + +static inline void vmathSoaV4Get4Aos( const VmathSoaVector4 *vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( vec->x, vec->z ); + tmp1 = vec_mergeh( vec->y, vec->w ); + tmp2 = vec_mergel( vec->x, vec->z ); + tmp3 = vec_mergel( vec->y, vec->w ); + vmathV4MakeFrom128( result0, vec_mergeh( tmp0, tmp1 ) ); + vmathV4MakeFrom128( result1, vec_mergel( tmp0, tmp1 ) ); + vmathV4MakeFrom128( result2, vec_mergeh( tmp2, tmp3 ) ); + vmathV4MakeFrom128( result3, vec_mergel( tmp2, tmp3 ) ); +} + +static inline void vmathSoaV4StoreHalfFloats( const VmathSoaVector4 *vec, vec_ushort8 *twoQuads ) +{ + VmathVector4 v0, v1, v2, v3; + vmathSoaV4Get4Aos( vec, &v0, &v1, &v2, &v3 ); + twoQuads[0] = _vmath2VfToHalfFloats(v0.vec128, v1.vec128); + twoQuads[1] = _vmath2VfToHalfFloats(v2.vec128, v3.vec128); +} + +static inline void vmathSoaV4SetXYZ( VmathSoaVector4 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaV4GetXYZ( VmathSoaVector3 *result, const VmathSoaVector4 *vec ) +{ + vmathSoaV3MakeFromElems( result, vec->x, vec->y, vec->z ); +} + +static inline void vmathSoaV4SetX( VmathSoaVector4 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaV4GetX( const VmathSoaVector4 *vec ) +{ + return vec->x; +} + +static inline void vmathSoaV4SetY( VmathSoaVector4 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaV4GetY( const VmathSoaVector4 *vec ) +{ + return vec->y; +} + +static inline void vmathSoaV4SetZ( VmathSoaVector4 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaV4GetZ( const VmathSoaVector4 *vec ) +{ + return vec->z; +} + +static inline void vmathSoaV4SetW( VmathSoaVector4 *result, vec_float4 _w ) +{ + result->w = _w; +} + +static inline vec_float4 vmathSoaV4GetW( const VmathSoaVector4 *vec ) +{ + return vec->w; +} + +static inline void vmathSoaV4SetElem( VmathSoaVector4 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaV4GetElem( const VmathSoaVector4 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathSoaV4Add( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = vec_add( vec0->x, vec1->x ); + result->y = vec_add( vec0->y, vec1->y ); + result->z = vec_add( vec0->z, vec1->z ); + result->w = vec_add( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4Sub( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = vec_sub( vec0->x, vec1->x ); + result->y = vec_sub( vec0->y, vec1->y ); + result->z = vec_sub( vec0->z, vec1->z ); + result->w = vec_sub( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4ScalarMul( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ) +{ + result->x = vec_madd( vec->x, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec->y, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec->z, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->w = vec_madd( vec->w, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4ScalarDiv( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ) +{ + result->x = divf4( vec->x, scalar ); + result->y = divf4( vec->y, scalar ); + result->z = divf4( vec->z, scalar ); + result->w = divf4( vec->w, scalar ); +} + +static inline void vmathSoaV4Neg( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = negatef4( vec->x ); + result->y = negatef4( vec->y ); + result->z = negatef4( vec->z ); + result->w = negatef4( vec->w ); +} + +static inline void vmathSoaV4MulPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = vec_madd( vec0->x, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec0->y, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec0->z, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->w = vec_madd( vec0->w, vec1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4DivPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = divf4( vec0->x, vec1->x ); + result->y = divf4( vec0->y, vec1->y ); + result->z = divf4( vec0->z, vec1->z ); + result->w = divf4( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4RecipPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->x ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->y ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->z ); + result->w = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec->w ); +} + +static inline void vmathSoaV4SqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = sqrtf4( vec->x ); + result->y = sqrtf4( vec->y ); + result->z = sqrtf4( vec->z ); + result->w = sqrtf4( vec->w ); +} + +static inline void vmathSoaV4RsqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->x ) ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->y ) ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->z ) ); + result->w = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec->w ) ); +} + +static inline void vmathSoaV4AbsPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = fabsf4( vec->x ); + result->y = fabsf4( vec->y ); + result->z = fabsf4( vec->z ); + result->w = fabsf4( vec->w ); +} + +static inline void vmathSoaV4CopySignPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = copysignf4( vec0->x, vec1->x ); + result->y = copysignf4( vec0->y, vec1->y ); + result->z = copysignf4( vec0->z, vec1->z ); + result->w = copysignf4( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4MaxPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = fmaxf4( vec0->x, vec1->x ); + result->y = fmaxf4( vec0->y, vec1->y ); + result->z = fmaxf4( vec0->z, vec1->z ); + result->w = fmaxf4( vec0->w, vec1->w ); +} + +static inline vec_float4 vmathSoaV4MaxElem( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec->x, vec->y ); + result = fmaxf4( vec->z, result ); + result = fmaxf4( vec->w, result ); + return result; +} + +static inline void vmathSoaV4MinPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = fminf4( vec0->x, vec1->x ); + result->y = fminf4( vec0->y, vec1->y ); + result->z = fminf4( vec0->z, vec1->z ); + result->w = fminf4( vec0->w, vec1->w ); +} + +static inline vec_float4 vmathSoaV4MinElem( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = fminf4( vec->x, vec->y ); + result = fminf4( vec->z, result ); + result = fminf4( vec->w, result ); + return result; +} + +static inline vec_float4 vmathSoaV4Sum( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = vec_add( vec->x, vec->y ); + result = vec_add( result, vec->z ); + result = vec_add( result, vec->w ); + return result; +} + +static inline vec_float4 vmathSoaV4Dot( const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0->x, vec1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec0->y, vec1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0->z, vec1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0->w, vec1->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaV4LengthSqr( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = vec_madd( vec->x, vec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec->y, vec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec->z, vec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec->w, vec->w, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaV4Length( const VmathSoaVector4 *vec ) +{ + return sqrtf4( vmathSoaV4LengthSqr( vec ) ); +} + +static inline void vmathSoaV4Normalize( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaV4LengthSqr( vec ); + lenInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + result->x = vec_madd( vec->x, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( vec->y, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( vec->z, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->w = vec_madd( vec->w, lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaV4Select( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1, vec_uint4 select1 ) +{ + result->x = vec_sel( vec0->x, vec1->x, select1 ); + result->y = vec_sel( vec0->y, vec1->y, select1 ); + result->z = vec_sel( vec0->z, vec1->z, select1 ); + result->w = vec_sel( vec0->w, vec1->w, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV4Print( const VmathSoaVector4 *vec ) +{ + VmathVector4 vec0, vec1, vec2, vec3; + vmathSoaV4Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV4Print( &vec0 ); + printf("slot 1:\n"); + vmathV4Print( &vec1 ); + printf("slot 2:\n"); + vmathV4Print( &vec2 ); + printf("slot 3:\n"); + vmathV4Print( &vec3 ); +} + +static inline void vmathSoaV4Prints( const VmathSoaVector4 *vec, const char *name ) +{ + VmathVector4 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaV4Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV4Print( &vec0 ); + printf("slot 1:\n"); + vmathV4Print( &vec1 ); + printf("slot 2:\n"); + vmathV4Print( &vec2 ); + printf("slot 3:\n"); + vmathV4Print( &vec3 ); +} + +#endif + +static inline void vmathSoaP3Copy( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathSoaP3MakeFromElems( VmathSoaPoint3 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathSoaP3MakeFromV3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaP3MakeFromScalar( VmathSoaPoint3 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathSoaP3MakeFromAos( VmathSoaPoint3 *result, const VmathPoint3 *pnt ) +{ + vec_float4 vec128 = pnt->vec128; + result->x = vec_splat( vec128, 0 ); + result->y = vec_splat( vec128, 1 ); + result->z = vec_splat( vec128, 2 ); +} + +static inline void vmathSoaP3MakeFrom4Aos( VmathSoaPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( pnt0->vec128, pnt2->vec128 ); + tmp1 = vec_mergeh( pnt1->vec128, pnt3->vec128 ); + tmp2 = vec_mergel( pnt0->vec128, pnt2->vec128 ); + tmp3 = vec_mergel( pnt1->vec128, pnt3->vec128 ); + result->x = vec_mergeh( tmp0, tmp1 ); + result->y = vec_mergel( tmp0, tmp1 ); + result->z = vec_mergeh( tmp2, tmp3 ); +} + +static inline void vmathSoaP3Lerp( VmathSoaPoint3 *result, vec_float4 t, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathSoaP3AddV3( result, pnt0, &tmpV3_1 ); +} + +static inline void vmathSoaP3Get4Aos( const VmathSoaPoint3 *pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ) +{ + vec_float4 tmp0, tmp1; + tmp0 = vec_mergeh( pnt->x, pnt->z ); + tmp1 = vec_mergel( pnt->x, pnt->z ); + vmathP3MakeFrom128( result0, vec_mergeh( tmp0, pnt->y ) ); + vmathP3MakeFrom128( result1, vec_perm( tmp0, pnt->y, _VECTORMATH_PERM_ZBWX ) ); + vmathP3MakeFrom128( result2, vec_perm( tmp1, pnt->y, _VECTORMATH_PERM_XCYX ) ); + vmathP3MakeFrom128( result3, vec_perm( tmp1, pnt->y, _VECTORMATH_PERM_ZDWX ) ); +} + +static inline void vmathSoaP3LoadXYZArray( VmathSoaPoint3 *vec, const vec_float4 *threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = vec_sld( yzxy, xyzx, 8 ); + zxzx = vec_sld( xyzx, zxyz, 8 ); + yzyz = vec_sld( zxyz, yzxy, 8 ); + vmathSoaP3SetX( vec, vec_perm( xyxy, zxzx, _VECTORMATH_PERM_ZBXD ) ); + vmathSoaP3SetY( vec, vec_perm( xyxy, yzyz, _VECTORMATH_PERM_WCYA ) ); + vmathSoaP3SetZ( vec, vec_perm( zxzx, yzyz, _VECTORMATH_PERM_XDZB ) ); +} + +static inline void vmathSoaP3StoreXYZArray( const VmathSoaPoint3 *vec, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = vec_perm( vec->x, vec->y, _VECTORMATH_PERM_ZCXA ); + zxzx = vec_perm( vec->z, vec->x, _VECTORMATH_PERM_XBZD ); + yzyz = vec_perm( vec->y, vec->z, _VECTORMATH_PERM_WDYB ); + xyzx = vec_sld( xyxy, zxzx, 8 ); + yzxy = vec_sld( yzyz, xyxy, 8 ); + zxyz = vec_sld( zxzx, yzyz, 8 ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathSoaP3StoreHalfFloats( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathSoaP3StoreXYZArray( pnt0, xyz0 ); + vmathSoaP3StoreXYZArray( pnt1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathSoaP3SetX( VmathSoaPoint3 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaP3GetX( const VmathSoaPoint3 *pnt ) +{ + return pnt->x; +} + +static inline void vmathSoaP3SetY( VmathSoaPoint3 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaP3GetY( const VmathSoaPoint3 *pnt ) +{ + return pnt->y; +} + +static inline void vmathSoaP3SetZ( VmathSoaPoint3 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaP3GetZ( const VmathSoaPoint3 *pnt ) +{ + return pnt->z; +} + +static inline void vmathSoaP3SetElem( VmathSoaPoint3 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaP3GetElem( const VmathSoaPoint3 *pnt, int idx ) +{ + return *(&pnt->x + idx); +} + +static inline void vmathSoaP3Sub( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = vec_sub( pnt0->x, pnt1->x ); + result->y = vec_sub( pnt0->y, pnt1->y ); + result->z = vec_sub( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3AddV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec1 ) +{ + result->x = vec_add( pnt->x, vec1->x ); + result->y = vec_add( pnt->y, vec1->y ); + result->z = vec_add( pnt->z, vec1->z ); +} + +static inline void vmathSoaP3SubV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec1 ) +{ + result->x = vec_sub( pnt->x, vec1->x ); + result->y = vec_sub( pnt->y, vec1->y ); + result->z = vec_sub( pnt->z, vec1->z ); +} + +static inline void vmathSoaP3MulPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = vec_madd( pnt0->x, pnt1->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->y = vec_madd( pnt0->y, pnt1->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result->z = vec_madd( pnt0->z, pnt1->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +static inline void vmathSoaP3DivPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = divf4( pnt0->x, pnt1->x ); + result->y = divf4( pnt0->y, pnt1->y ); + result->z = divf4( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3RecipPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt->x ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt->y ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt->z ); +} + +static inline void vmathSoaP3SqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = sqrtf4( pnt->x ); + result->y = sqrtf4( pnt->y ); + result->z = sqrtf4( pnt->z ); +} + +static inline void vmathSoaP3RsqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt->x ) ); + result->y = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt->y ) ); + result->z = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt->z ) ); +} + +static inline void vmathSoaP3AbsPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = fabsf4( pnt->x ); + result->y = fabsf4( pnt->y ); + result->z = fabsf4( pnt->z ); +} + +static inline void vmathSoaP3CopySignPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = copysignf4( pnt0->x, pnt1->x ); + result->y = copysignf4( pnt0->y, pnt1->y ); + result->z = copysignf4( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3MaxPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = fmaxf4( pnt0->x, pnt1->x ); + result->y = fmaxf4( pnt0->y, pnt1->y ); + result->z = fmaxf4( pnt0->z, pnt1->z ); +} + +static inline vec_float4 vmathSoaP3MaxElem( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = fmaxf4( pnt->x, pnt->y ); + result = fmaxf4( pnt->z, result ); + return result; +} + +static inline void vmathSoaP3MinPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = fminf4( pnt0->x, pnt1->x ); + result->y = fminf4( pnt0->y, pnt1->y ); + result->z = fminf4( pnt0->z, pnt1->z ); +} + +static inline vec_float4 vmathSoaP3MinElem( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = fminf4( pnt->x, pnt->y ); + result = fminf4( pnt->z, result ); + return result; +} + +static inline vec_float4 vmathSoaP3Sum( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = vec_add( pnt->x, pnt->y ); + result = vec_add( result, pnt->z ); + return result; +} + +static inline void vmathSoaP3Scale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, vec_float4 scaleVal ) +{ + VmathSoaPoint3 tmpP3_0; + vmathSoaP3MakeFromScalar( &tmpP3_0, scaleVal ); + vmathSoaP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline void vmathSoaP3NonUniformScale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *scaleVec ) +{ + VmathSoaPoint3 tmpP3_0; + vmathSoaP3MakeFromV3( &tmpP3_0, scaleVec ); + vmathSoaP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline vec_float4 vmathSoaP3Projection( const VmathSoaPoint3 *pnt, const VmathSoaVector3 *unitVec ) +{ + vec_float4 result; + result = vec_madd( pnt->x, unitVec->x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( pnt->y, unitVec->y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( pnt->z, unitVec->z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +static inline vec_float4 vmathSoaP3DistSqrFromOrigin( const VmathSoaPoint3 *pnt ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3MakeFromP3( &tmpV3_0, pnt ); + return vmathSoaV3LengthSqr( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3DistFromOrigin( const VmathSoaPoint3 *pnt ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3MakeFromP3( &tmpV3_0, pnt ); + return vmathSoaV3Length( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3DistSqr( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathSoaV3LengthSqr( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3Dist( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathSoaV3Length( &tmpV3_0 ); +} + +static inline void vmathSoaP3Select( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_uint4 select1 ) +{ + result->x = vec_sel( pnt0->x, pnt1->x, select1 ); + result->y = vec_sel( pnt0->y, pnt1->y, select1 ); + result->z = vec_sel( pnt0->z, pnt1->z, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaP3Print( const VmathSoaPoint3 *pnt ) +{ + VmathPoint3 vec0, vec1, vec2, vec3; + vmathSoaP3Get4Aos( pnt, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathP3Print( &vec0 ); + printf("slot 1:\n"); + vmathP3Print( &vec1 ); + printf("slot 2:\n"); + vmathP3Print( &vec2 ); + printf("slot 3:\n"); + vmathP3Print( &vec3 ); +} + +static inline void vmathSoaP3Prints( const VmathSoaPoint3 *pnt, const char *name ) +{ + VmathPoint3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaP3Get4Aos( pnt, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathP3Print( &vec0 ); + printf("slot 1:\n"); + vmathP3Print( &vec1 ); + printf("slot 2:\n"); + vmathP3Print( &vec2 ); + printf("slot 3:\n"); + vmathP3Print( &vec3 ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa_v.h new file mode 100644 index 000000000..75d7bb6bc --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vec_soa_v.h @@ -0,0 +1,958 @@ +/* + 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_VEC_SOA_V_C_H +#define _VECTORMATH_VEC_SOA_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for permutes, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZDWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZCXA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XBZD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WDYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WCYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B }) +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathSoaVector3 vmathSoaV3MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromP3_V( VmathSoaPoint3 pnt ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromAos_V( VmathVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromAos(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFrom4Aos_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3 ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFrom4Aos(&result, &vec0, &vec1, &vec2, &vec3); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeXAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeXAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeYAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeYAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeZAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeZAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Lerp_V( vec_float4 t, VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Slerp_V( vec_float4 t, VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathSoaV3Get4Aos_V( VmathSoaVector3 vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ) +{ + vmathSoaV3Get4Aos(&vec, result0, result1, result2, result3); +} + +static inline void vmathSoaV3LoadXYZArray_V( VmathSoaVector3 *vec, const vec_float4 *threeQuads ) +{ + vmathSoaV3LoadXYZArray(vec, threeQuads); +} + +static inline void vmathSoaV3StoreXYZArray_V( VmathSoaVector3 vec, vec_float4 *threeQuads ) +{ + vmathSoaV3StoreXYZArray(&vec, threeQuads); +} + +static inline void vmathSoaV3StoreHalfFloats_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_ushort8 *threeQuads ) +{ + vmathSoaV3StoreHalfFloats(&vec0, &vec1, threeQuads); +} + +static inline void vmathSoaV3SetX_V( VmathSoaVector3 *result, vec_float4 _x ) +{ + vmathSoaV3SetX(result, _x); +} + +static inline vec_float4 vmathSoaV3GetX_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetX(&vec); +} + +static inline void vmathSoaV3SetY_V( VmathSoaVector3 *result, vec_float4 _y ) +{ + vmathSoaV3SetY(result, _y); +} + +static inline vec_float4 vmathSoaV3GetY_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetY(&vec); +} + +static inline void vmathSoaV3SetZ_V( VmathSoaVector3 *result, vec_float4 _z ) +{ + vmathSoaV3SetZ(result, _z); +} + +static inline vec_float4 vmathSoaV3GetZ_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetZ(&vec); +} + +static inline void vmathSoaV3SetElem_V( VmathSoaVector3 *result, int idx, vec_float4 value ) +{ + vmathSoaV3SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaV3GetElem_V( VmathSoaVector3 vec, int idx ) +{ + return vmathSoaV3GetElem(&vec, idx); +} + +static inline VmathSoaVector3 vmathSoaV3Add_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Sub_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaV3AddP3_V( VmathSoaVector3 vec, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaV3AddP3(&result, &vec, &pnt1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3ScalarMul_V( VmathSoaVector3 vec, vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3ScalarDiv_V( VmathSoaVector3 vec, vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Neg_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3Neg(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MulPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3DivPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RecipPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3RecipPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3SqrtPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RsqrtPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3AbsPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3AbsPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3CopySignPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MaxPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV3MaxElem_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3MaxElem(&vec); +} + +static inline VmathSoaVector3 vmathSoaV3MinPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV3MinElem_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3MinElem(&vec); +} + +static inline vec_float4 vmathSoaV3Sum_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3Sum(&vec); +} + +static inline vec_float4 vmathSoaV3Dot_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + return vmathSoaV3Dot(&vec0, &vec1); +} + +static inline vec_float4 vmathSoaV3LengthSqr_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3LengthSqr(&vec); +} + +static inline vec_float4 vmathSoaV3Length_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3Length(&vec); +} + +static inline VmathSoaVector3 vmathSoaV3Normalize_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3Normalize(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Cross_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Cross(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Select_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_uint4 select1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV3Print_V( VmathSoaVector3 vec ) +{ + vmathSoaV3Print(&vec); +} + +static inline void vmathSoaV3Prints_V( VmathSoaVector3 vec, const char *name ) +{ + vmathSoaV3Prints(&vec, name); +} + +#endif + +static inline VmathSoaVector4 vmathSoaV4MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 _w ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromV3_V( VmathSoaVector3 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromV3(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromP3_V( VmathSoaPoint3 pnt ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromQ_V( VmathSoaQuat quat ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromQ(&result, &quat); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromAos_V( VmathVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromAos(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFrom4Aos_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3 ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFrom4Aos(&result, &vec0, &vec1, &vec2, &vec3); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeXAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeXAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeYAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeYAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeZAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeZAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeWAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeWAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Lerp_V( vec_float4 t, VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Slerp_V( vec_float4 t, VmathSoaVector4 unitVec0, VmathSoaVector4 unitVec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathSoaV4Get4Aos_V( VmathSoaVector4 vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ) +{ + vmathSoaV4Get4Aos(&vec, result0, result1, result2, result3); +} + +static inline void vmathSoaV4StoreHalfFloats_V( VmathSoaVector4 vec, vec_ushort8 *twoQuads ) +{ + vmathSoaV4StoreHalfFloats(&vec, twoQuads); +} + +static inline void vmathSoaV4SetXYZ_V( VmathSoaVector4 *result, VmathSoaVector3 vec ) +{ + vmathSoaV4SetXYZ(result, &vec); +} + +static inline VmathSoaVector3 vmathSoaV4GetXYZ_V( VmathSoaVector4 vec ) +{ + VmathSoaVector3 result; + vmathSoaV4GetXYZ(&result, &vec); + return result; +} + +static inline void vmathSoaV4SetX_V( VmathSoaVector4 *result, vec_float4 _x ) +{ + vmathSoaV4SetX(result, _x); +} + +static inline vec_float4 vmathSoaV4GetX_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetX(&vec); +} + +static inline void vmathSoaV4SetY_V( VmathSoaVector4 *result, vec_float4 _y ) +{ + vmathSoaV4SetY(result, _y); +} + +static inline vec_float4 vmathSoaV4GetY_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetY(&vec); +} + +static inline void vmathSoaV4SetZ_V( VmathSoaVector4 *result, vec_float4 _z ) +{ + vmathSoaV4SetZ(result, _z); +} + +static inline vec_float4 vmathSoaV4GetZ_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetZ(&vec); +} + +static inline void vmathSoaV4SetW_V( VmathSoaVector4 *result, vec_float4 _w ) +{ + vmathSoaV4SetW(result, _w); +} + +static inline vec_float4 vmathSoaV4GetW_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetW(&vec); +} + +static inline void vmathSoaV4SetElem_V( VmathSoaVector4 *result, int idx, vec_float4 value ) +{ + vmathSoaV4SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaV4GetElem_V( VmathSoaVector4 vec, int idx ) +{ + return vmathSoaV4GetElem(&vec, idx); +} + +static inline VmathSoaVector4 vmathSoaV4Add_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Sub_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4ScalarMul_V( VmathSoaVector4 vec, vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4ScalarDiv_V( VmathSoaVector4 vec, vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Neg_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4Neg(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MulPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4DivPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4RecipPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4RecipPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4SqrtPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4RsqrtPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4AbsPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4AbsPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4CopySignPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MaxPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV4MaxElem_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4MaxElem(&vec); +} + +static inline VmathSoaVector4 vmathSoaV4MinPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV4MinElem_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4MinElem(&vec); +} + +static inline vec_float4 vmathSoaV4Sum_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4Sum(&vec); +} + +static inline vec_float4 vmathSoaV4Dot_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + return vmathSoaV4Dot(&vec0, &vec1); +} + +static inline vec_float4 vmathSoaV4LengthSqr_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4LengthSqr(&vec); +} + +static inline vec_float4 vmathSoaV4Length_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4Length(&vec); +} + +static inline VmathSoaVector4 vmathSoaV4Normalize_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4Normalize(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Select_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1, vec_uint4 select1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV4Print_V( VmathSoaVector4 vec ) +{ + vmathSoaV4Print(&vec); +} + +static inline void vmathSoaV4Prints_V( VmathSoaVector4 vec, const char *name ) +{ + vmathSoaV4Prints(&vec, name); +} + +#endif + +static inline VmathSoaPoint3 vmathSoaP3MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromV3_V( VmathSoaVector3 vec ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromV3(&result, &vec); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromAos_V( VmathPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromAos(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFrom4Aos_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFrom4Aos(&result, &pnt0, &pnt1, &pnt2, &pnt3); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3Lerp_V( vec_float4 t, VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3Lerp(&result, t, &pnt0, &pnt1); + return result; +} + +static inline void vmathSoaP3Get4Aos_V( VmathSoaPoint3 pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ) +{ + vmathSoaP3Get4Aos(&pnt, result0, result1, result2, result3); +} + +static inline void vmathSoaP3LoadXYZArray_V( VmathSoaPoint3 *vec, const vec_float4 *threeQuads ) +{ + vmathSoaP3LoadXYZArray(vec, threeQuads); +} + +static inline void vmathSoaP3StoreXYZArray_V( VmathSoaPoint3 vec, vec_float4 *threeQuads ) +{ + vmathSoaP3StoreXYZArray(&vec, threeQuads); +} + +static inline void vmathSoaP3StoreHalfFloats_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_ushort8 *threeQuads ) +{ + vmathSoaP3StoreHalfFloats(&pnt0, &pnt1, threeQuads); +} + +static inline void vmathSoaP3SetX_V( VmathSoaPoint3 *result, vec_float4 _x ) +{ + vmathSoaP3SetX(result, _x); +} + +static inline vec_float4 vmathSoaP3GetX_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetX(&pnt); +} + +static inline void vmathSoaP3SetY_V( VmathSoaPoint3 *result, vec_float4 _y ) +{ + vmathSoaP3SetY(result, _y); +} + +static inline vec_float4 vmathSoaP3GetY_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetY(&pnt); +} + +static inline void vmathSoaP3SetZ_V( VmathSoaPoint3 *result, vec_float4 _z ) +{ + vmathSoaP3SetZ(result, _z); +} + +static inline vec_float4 vmathSoaP3GetZ_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetZ(&pnt); +} + +static inline void vmathSoaP3SetElem_V( VmathSoaPoint3 *result, int idx, vec_float4 value ) +{ + vmathSoaP3SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaP3GetElem_V( VmathSoaPoint3 pnt, int idx ) +{ + return vmathSoaP3GetElem(&pnt, idx); +} + +static inline VmathSoaVector3 vmathSoaP3Sub_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaVector3 result; + vmathSoaP3Sub(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3AddV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3AddV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3SubV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3SubV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MulPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MulPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3DivPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3DivPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3RecipPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3RecipPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3SqrtPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3SqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3RsqrtPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3RsqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3AbsPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3AbsPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3CopySignPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3CopySignPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MaxPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MaxPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathSoaP3MaxElem_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3MaxElem(&pnt); +} + +static inline VmathSoaPoint3 vmathSoaP3MinPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MinPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathSoaP3MinElem_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3MinElem(&pnt); +} + +static inline vec_float4 vmathSoaP3Sum_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3Sum(&pnt); +} + +static inline VmathSoaPoint3 vmathSoaP3Scale_V( VmathSoaPoint3 pnt, vec_float4 scaleVal ) +{ + VmathSoaPoint3 result; + vmathSoaP3Scale(&result, &pnt, scaleVal); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3NonUniformScale_V( VmathSoaPoint3 pnt, VmathSoaVector3 scaleVec ) +{ + VmathSoaPoint3 result; + vmathSoaP3NonUniformScale(&result, &pnt, &scaleVec); + return result; +} + +static inline vec_float4 vmathSoaP3Projection_V( VmathSoaPoint3 pnt, VmathSoaVector3 unitVec ) +{ + return vmathSoaP3Projection(&pnt, &unitVec); +} + +static inline vec_float4 vmathSoaP3DistSqrFromOrigin_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3DistSqrFromOrigin(&pnt); +} + +static inline vec_float4 vmathSoaP3DistFromOrigin_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3DistFromOrigin(&pnt); +} + +static inline vec_float4 vmathSoaP3DistSqr_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + return vmathSoaP3DistSqr(&pnt0, &pnt1); +} + +static inline vec_float4 vmathSoaP3Dist_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + return vmathSoaP3Dist(&pnt0, &pnt1); +} + +static inline VmathSoaPoint3 vmathSoaP3Select_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_uint4 select1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3Select(&result, &pnt0, &pnt1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaP3Print_V( VmathSoaPoint3 pnt ) +{ + vmathSoaP3Print(&pnt); +} + +static inline void vmathSoaP3Prints_V( VmathSoaPoint3 pnt, const char *name ) +{ + vmathSoaP3Prints(&pnt, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos.h new file mode 100644 index 000000000..025e6fe88 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos.h @@ -0,0 +1,1960 @@ +/* + 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_AOS_C_H +#define _VECTORMATH_AOS_C_H + +#include +#include +#include +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + vec_float4 vec128; +} VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + vec_float4 vec128; +} VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + vec_float4 vec128; +} VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + vec_float4 vec128; +} VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Copy a 3-D vector + */ +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline void vmathV3MakeFromElems( VmathVector3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ); + +/* + * Set vector float data in a 3-D vector + */ +static inline void vmathV3MakeFrom128( VmathVector3 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D vector + */ +static inline vec_float4 vmathV3Get128( const VmathVector3 *vec ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX( const VmathVector3 *vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY( const VmathVector3 *vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ( const VmathVector3 *vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV3MakeXAxis( VmathVector3 *result ); + +/* + * Construct y axis + */ +static inline void vmathV3MakeYAxis( VmathVector3 *result ); + +/* + * Construct z axis + */ +static inline void vmathV3MakeZAxis( VmathVector3 *result ); + +/* + * Multiply two 3-D vectors per element + */ +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem( const VmathVector3 *vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem( const VmathVector3 *vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum( const VmathVector3 *vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr( const VmathVector3 *vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length( const VmathVector3 *vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + * NOTE: + * Slower than column post-multiply. + */ +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D vector in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathV3StoreXYZ( const VmathVector3 *vec, vec_float4 *quad ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathV3LoadXYZArray( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D vectors in three quadwords + */ +static inline void vmathV3StoreXYZArray( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D vectors as half-floats + */ +static inline void vmathV3StoreHalfFloats( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, const VmathVector3 *vec4, const VmathVector3 *vec5, const VmathVector3 *vec6, const VmathVector3 *vec7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print( const VmathVector3 *vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ); + +#endif + +/* + * Copy a 4-D vector + */ +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline void vmathV4MakeFromElems( VmathVector4 *result, float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ); + +/* + * Set vector float data in a 4-D vector + */ +static inline void vmathV4MakeFrom128( VmathVector4 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 4-D vector + */ +static inline vec_float4 vmathV4Get128( const VmathVector4 *vec ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX( const VmathVector4 *vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY( const VmathVector4 *vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ( const VmathVector4 *vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW( const VmathVector4 *vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV4MakeXAxis( VmathVector4 *result ); + +/* + * Construct y axis + */ +static inline void vmathV4MakeYAxis( VmathVector4 *result ); + +/* + * Construct z axis + */ +static inline void vmathV4MakeZAxis( VmathVector4 *result ); + +/* + * Construct w axis + */ +static inline void vmathV4MakeWAxis( VmathVector4 *result ); + +/* + * Multiply two 4-D vectors per element + */ +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem( const VmathVector4 *vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem( const VmathVector4 *vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum( const VmathVector4 *vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr( const VmathVector4 *vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length( const VmathVector4 *vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ); + +/* + * Store four 4-D vectors as half-floats + */ +static inline void vmathV4StoreHalfFloats( const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print( const VmathVector4 *vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ); + +#endif + +/* + * Copy a 3-D point + */ +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ); + +/* + * Set vector float data in a 3-D point + */ +static inline void vmathP3MakeFrom128( VmathPoint3 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D point + */ +static inline vec_float4 vmathP3Get128( const VmathPoint3 *pnt ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX( const VmathPoint3 *pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY( const VmathPoint3 *pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ( const VmathPoint3 *pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Multiply two 3-D points per element + */ +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem( const VmathPoint3 *pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum( const VmathPoint3 *pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D point in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathP3StoreXYZ( const VmathPoint3 *pnt, vec_float4 *quad ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathP3LoadXYZArray( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D points in three quadwords + */ +static inline void vmathP3StoreXYZArray( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D points as half-floats + */ +static inline void vmathP3StoreHalfFloats( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, const VmathPoint3 *pnt4, const VmathPoint3 *pnt5, const VmathPoint3 *pnt6, const VmathPoint3 *pnt7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print( const VmathPoint3 *pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ); + +#endif + +/* + * Copy a quaternion + */ +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline void vmathQMakeFromElems( VmathQuat *result, float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ); + +/* + * Set vector float data in a quaternion + */ +static inline void vmathQMakeFrom128( VmathQuat *result, vec_float4 vf4 ); + +/* + * Get vector float data from a quaternion + */ +static inline vec_float4 vmathQGet128( const VmathQuat *quat ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX( const VmathQuat *quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY( const VmathQuat *quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ( const VmathQuat *quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW( const VmathQuat *quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem( const VmathQuat *quat, int idx ); + +/* + * Add two quaternions + */ +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply two quaternions + */ +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct an identity quaternion + */ +static inline void vmathQMakeIdentity( VmathQuat *result ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline void vmathQMakeRotationX( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline void vmathQMakeRotationY( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline void vmathQMakeRotationZ( VmathQuat *result, float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *unitQuat, const VmathVector3 *vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm( const VmathQuat *quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength( const VmathQuat *quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint( const VmathQuat *quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints( const VmathQuat *quat, const char *name ); + +#endif + +/* + * Copy a 3x3 matrix + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant( const VmathMatrix3 *mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print( const VmathMatrix3 *mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ); + +#endif + +/* + * Copy a 4x4 matrix + */ +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *col0, const VmathVector4 *col1, const VmathVector4 *col2, const VmathVector4 *col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant( const VmathMatrix4 *mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print( const VmathMatrix4 *mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ); + +#endif + +/* + * Copy a 3x4 transformation matrix + */ +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2, const VmathVector3 *col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline void vmathT3MakeIdentity( VmathTransform3 *result ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print( const VmathTransform3 *tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos_v.h new file mode 100644 index 000000000..066a39311 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos_v.h @@ -0,0 +1,1924 @@ +/* + 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_AOS_C_V_H +#define _VECTORMATH_AOS_C_V_H + +#include +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + vec_float4 vec128; +} VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + vec_float4 vec128; +} VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + vec_float4 vec128; +} VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + vec_float4 vec128; +} VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline VmathVector3 vmathV3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 3-D vector + */ +static inline VmathVector3 vmathV3MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D vector + */ +static inline vec_float4 vmathV3Get128_V( VmathVector3 vec ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX_V( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY_V( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ_V( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX_V( VmathVector3 vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY_V( VmathVector3 vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ_V( VmathVector3 vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ); + +/* + * Construct x axis + */ +static inline VmathVector3 vmathV3MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector3 vmathV3MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector3 vmathV3MakeZAxis_V( ); + +/* + * Multiply two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem_V( VmathVector3 vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem_V( VmathVector3 vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum_V( VmathVector3 vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr_V( VmathVector3 vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length_V( VmathVector3 vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + * NOTE: + * Slower than column post-multiply. + */ +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D vector in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathV3StoreXYZ_V( VmathVector3 vec, vec_float4 *quad ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathV3LoadXYZArray_V( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D vectors in three quadwords + */ +static inline void vmathV3StoreXYZArray_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D vectors as half-floats + */ +static inline void vmathV3StoreHalfFloats_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, VmathVector3 vec4, VmathVector3 vec5, VmathVector3 vec6, VmathVector3 vec7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print_V( VmathVector3 vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ); + +#endif + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline VmathVector4 vmathV4MakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 4-D vector + */ +static inline VmathVector4 vmathV4MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 4-D vector + */ +static inline vec_float4 vmathV4Get128_V( VmathVector4 vec ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX_V( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY_V( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ_V( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW_V( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX_V( VmathVector4 vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY_V( VmathVector4 vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ_V( VmathVector4 vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW_V( VmathVector4 vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ); + +/* + * Construct x axis + */ +static inline VmathVector4 vmathV4MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector4 vmathV4MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector4 vmathV4MakeZAxis_V( ); + +/* + * Construct w axis + */ +static inline VmathVector4 vmathV4MakeWAxis_V( ); + +/* + * Multiply two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem_V( VmathVector4 vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem_V( VmathVector4 vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum_V( VmathVector4 vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr_V( VmathVector4 vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length_V( VmathVector4 vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ); + +/* + * Store four 4-D vectors as half-floats + */ +static inline void vmathV4StoreHalfFloats_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print_V( VmathVector4 vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ); + +#endif + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline VmathPoint3 vmathP3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 3-D point + */ +static inline VmathPoint3 vmathP3MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D point + */ +static inline vec_float4 vmathP3Get128_V( VmathPoint3 pnt ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX_V( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY_V( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ_V( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX_V( VmathPoint3 pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY_V( VmathPoint3 pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ_V( VmathPoint3 pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Multiply two 3-D points per element + */ +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem_V( VmathPoint3 pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum_V( VmathPoint3 pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D point in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathP3StoreXYZ_V( VmathPoint3 pnt, vec_float4 *quad ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathP3LoadXYZArray_V( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D points in three quadwords + */ +static inline void vmathP3StoreXYZArray_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D points as half-floats + */ +static inline void vmathP3StoreHalfFloats_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, VmathPoint3 pnt4, VmathPoint3 pnt5, VmathPoint3 pnt6, VmathPoint3 pnt7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print_V( VmathPoint3 pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ); + +#endif + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline VmathQuat vmathQMakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a quaternion + */ +static inline VmathQuat vmathQMakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a quaternion + */ +static inline vec_float4 vmathQGet128_V( VmathQuat quat ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX_V( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY_V( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ_V( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW_V( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX_V( VmathQuat quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY_V( VmathQuat quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ_V( VmathQuat quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW_V( VmathQuat quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem_V( VmathQuat quat, int idx ); + +/* + * Add two quaternions + */ +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply two quaternions + */ +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline VmathQuat vmathQNeg_V( VmathQuat quat ); + +/* + * Construct an identity quaternion + */ +static inline VmathQuat vmathQMakeIdentity_V( ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline VmathQuat vmathQMakeRotationX_V( float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline VmathQuat vmathQMakeRotationY_V( float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline VmathQuat vmathQMakeRotationZ_V( float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline VmathQuat vmathQConj_V( VmathQuat quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline VmathVector3 vmathQRotate_V( VmathQuat unitQuat, VmathVector3 vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm_V( VmathQuat quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength_V( VmathQuat quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint_V( VmathQuat quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints_V( VmathQuat quat, const char *name ); + +#endif + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline VmathMatrix3 vmathM3MakeIdentity_V( ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant_V( VmathMatrix3 mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print_V( VmathMatrix3 mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ); + +#endif + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 col0, VmathVector4 col1, VmathVector4 col2, VmathVector4 col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline VmathMatrix4 vmathM4MakeIdentity_V( ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant_V( VmathMatrix4 mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print_V( VmathMatrix4 mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ); + +#endif + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2, VmathVector3 col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline VmathTransform3 vmathT3MakeIdentity_V( ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + * However, the transfer of select1 to a VMX register may use more processing time than a branch. + */ +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print_V( VmathTransform3 tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vectormath_aos.h" +#include "vec_aos_v.h" +#include "quat_aos_v.h" +#include "mat_aos_v.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa.h new file mode 100644 index 000000000..1b8b8c6bf --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa.h @@ -0,0 +1,2013 @@ +/* + 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_SOA_C_H +#define _VECTORMATH_SOA_C_H + +#include +#include +#include "vectormath_aos.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_SOA_C_TYPES_H +#define _VECTORMATH_SOA_C_TYPES_H + +/* A set of four 3-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaVector3; + +/* A set of four 4-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector4 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaVector4; + +/* A set of four 3-D points in structure-of-arrays format + */ +typedef struct _VmathSoaPoint3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaPoint3; + +/* A set of four quaternions in structure-of-arrays format + */ +typedef struct _VmathSoaQuat +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaQuat; + +/* A set of four 3x3 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; +} VmathSoaMatrix3; + +/* A set of four 4x4 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix4 +{ + VmathSoaVector4 col0; + VmathSoaVector4 col1; + VmathSoaVector4 col2; + VmathSoaVector4 col3; +} VmathSoaMatrix4; + +/* A set of four 3x4 transformation matrices in structure-of-arrays format + */ +typedef struct _VmathSoaTransform3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; + VmathSoaVector3 col3; +} VmathSoaTransform3; + +#endif + +/* + * Copy a 3-D vector + */ +static inline void vmathSoaV3Copy( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline void vmathSoaV3MakeFromElems( VmathSoaVector3 *result, vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline void vmathSoaV3MakeFromP3( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline void vmathSoaV3MakeFromScalar( VmathSoaVector3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3-D vector + */ +static inline void vmathSoaV3MakeFromAos( VmathSoaVector3 *result, const VmathVector3 *vec ); + +/* + * Insert four AoS 3-D vectors + */ +static inline void vmathSoaV3MakeFrom4Aos( VmathSoaVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3 ); + +/* + * Extract four AoS 3-D vectors + */ +static inline void vmathSoaV3Get4Aos( const VmathSoaVector3 *vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathSoaV3SetX( VmathSoaVector3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathSoaV3SetY( VmathSoaVector3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathSoaV3SetZ( VmathSoaVector3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetX( const VmathSoaVector3 *vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetY( const VmathSoaVector3 *vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetZ( const VmathSoaVector3 *vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathSoaV3SetElem( VmathSoaVector3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline vec_float4 vmathSoaV3GetElem( const VmathSoaVector3 *vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline void vmathSoaV3Add( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline void vmathSoaV3Sub( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline void vmathSoaV3AddP3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec, const VmathSoaPoint3 *pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline void vmathSoaV3ScalarMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline void vmathSoaV3ScalarDiv( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline void vmathSoaV3Neg( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Construct x axis + */ +static inline void vmathSoaV3MakeXAxis( VmathSoaVector3 *result ); + +/* + * Construct y axis + */ +static inline void vmathSoaV3MakeYAxis( VmathSoaVector3 *result ); + +/* + * Construct z axis + */ +static inline void vmathSoaV3MakeZAxis( VmathSoaVector3 *result ); + +/* + * Multiply two 3-D vectors per element + */ +static inline void vmathSoaV3MulPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaV3DivPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaV3RecipPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaV3SqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaV3RsqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline void vmathSoaV3AbsPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline void vmathSoaV3CopySignPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline void vmathSoaV3MaxPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline void vmathSoaV3MinPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MaxElem( const VmathSoaVector3 *vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MinElem( const VmathSoaVector3 *vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Sum( const VmathSoaVector3 *vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline vec_float4 vmathSoaV3Dot( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3LengthSqr( const VmathSoaVector3 *vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Length( const VmathSoaVector3 *vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathSoaV3Normalize( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline void vmathSoaV3Cross( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline void vmathSoaV3Outer( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline void vmathSoaV3RowMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline void vmathSoaV3CrossMatrix( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline void vmathSoaV3CrossMatrixMul( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV3Lerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV3Slerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaV3Select( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathSoaV3LoadXYZArray( VmathSoaVector3 *vec, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D vector in three quadwords + */ +static inline void vmathSoaV3StoreXYZArray( const VmathSoaVector3 *vec, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D vectors as half-floats + */ +static inline void vmathSoaV3StoreHalfFloats( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Print( const VmathSoaVector3 *vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Prints( const VmathSoaVector3 *vec, const char *name ); + +#endif + +/* + * Copy a 4-D vector + */ +static inline void vmathSoaV4Copy( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline void vmathSoaV4MakeFromElems( VmathSoaVector4 *result, vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline void vmathSoaV4MakeFromV3Scalar( VmathSoaVector4 *result, const VmathSoaVector3 *xyz, vec_float4 w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline void vmathSoaV4MakeFromV3( VmathSoaVector4 *result, const VmathSoaVector3 *vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline void vmathSoaV4MakeFromP3( VmathSoaVector4 *result, const VmathSoaPoint3 *pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline void vmathSoaV4MakeFromQ( VmathSoaVector4 *result, const VmathSoaQuat *quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline void vmathSoaV4MakeFromScalar( VmathSoaVector4 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 4-D vector + */ +static inline void vmathSoaV4MakeFromAos( VmathSoaVector4 *result, const VmathVector4 *vec ); + +/* + * Insert four AoS 4-D vectors + */ +static inline void vmathSoaV4MakeFrom4Aos( VmathSoaVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3 ); + +/* + * Extract four AoS 4-D vectors + */ +static inline void vmathSoaV4Get4Aos( const VmathSoaVector4 *vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaV4SetXYZ( VmathSoaVector4 *result, const VmathSoaVector3 *vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline void vmathSoaV4GetXYZ( VmathSoaVector3 *result, const VmathSoaVector4 *vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathSoaV4SetX( VmathSoaVector4 *result, vec_float4 x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathSoaV4SetY( VmathSoaVector4 *result, vec_float4 y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathSoaV4SetZ( VmathSoaVector4 *result, vec_float4 z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathSoaV4SetW( VmathSoaVector4 *result, vec_float4 w ); + +/* + * Get the x element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetX( const VmathSoaVector4 *vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetY( const VmathSoaVector4 *vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetZ( const VmathSoaVector4 *vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetW( const VmathSoaVector4 *vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathSoaV4SetElem( VmathSoaVector4 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline vec_float4 vmathSoaV4GetElem( const VmathSoaVector4 *vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline void vmathSoaV4Add( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline void vmathSoaV4Sub( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline void vmathSoaV4ScalarMul( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline void vmathSoaV4ScalarDiv( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline void vmathSoaV4Neg( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Construct x axis + */ +static inline void vmathSoaV4MakeXAxis( VmathSoaVector4 *result ); + +/* + * Construct y axis + */ +static inline void vmathSoaV4MakeYAxis( VmathSoaVector4 *result ); + +/* + * Construct z axis + */ +static inline void vmathSoaV4MakeZAxis( VmathSoaVector4 *result ); + +/* + * Construct w axis + */ +static inline void vmathSoaV4MakeWAxis( VmathSoaVector4 *result ); + +/* + * Multiply two 4-D vectors per element + */ +static inline void vmathSoaV4MulPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaV4DivPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaV4RecipPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaV4SqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaV4RsqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline void vmathSoaV4AbsPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline void vmathSoaV4CopySignPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline void vmathSoaV4MaxPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline void vmathSoaV4MinPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MaxElem( const VmathSoaVector4 *vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MinElem( const VmathSoaVector4 *vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Sum( const VmathSoaVector4 *vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline vec_float4 vmathSoaV4Dot( const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4LengthSqr( const VmathSoaVector4 *vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Length( const VmathSoaVector4 *vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathSoaV4Normalize( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline void vmathSoaV4Outer( VmathSoaMatrix4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV4Lerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV4Slerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *unitVec0, const VmathSoaVector4 *unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaV4Select( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1, vec_uint4 select1 ); + +/* + * Store four slots of an SoA 4-D vector as half-floats + */ +static inline void vmathSoaV4StoreHalfFloats( const VmathSoaVector4 *vec, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Print( const VmathSoaVector4 *vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Prints( const VmathSoaVector4 *vec, const char *name ); + +#endif + +/* + * Copy a 3-D point + */ +static inline void vmathSoaP3Copy( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline void vmathSoaP3MakeFromElems( VmathSoaPoint3 *result, vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline void vmathSoaP3MakeFromV3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline void vmathSoaP3MakeFromScalar( VmathSoaPoint3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3-D point + */ +static inline void vmathSoaP3MakeFromAos( VmathSoaPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Insert four AoS 3-D points + */ +static inline void vmathSoaP3MakeFrom4Aos( VmathSoaPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3 ); + +/* + * Extract four AoS 3-D points + */ +static inline void vmathSoaP3Get4Aos( const VmathSoaPoint3 *pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathSoaP3SetX( VmathSoaPoint3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathSoaP3SetY( VmathSoaPoint3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathSoaP3SetZ( VmathSoaPoint3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetX( const VmathSoaPoint3 *pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetY( const VmathSoaPoint3 *pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetZ( const VmathSoaPoint3 *pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathSoaP3SetElem( VmathSoaPoint3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline vec_float4 vmathSoaP3GetElem( const VmathSoaPoint3 *pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline void vmathSoaP3Sub( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline void vmathSoaP3AddV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline void vmathSoaP3SubV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec ); + +/* + * Multiply two 3-D points per element + */ +static inline void vmathSoaP3MulPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaP3DivPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaP3RecipPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaP3SqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaP3RsqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline void vmathSoaP3AbsPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline void vmathSoaP3CopySignPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline void vmathSoaP3MaxPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline void vmathSoaP3MinPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MaxElem( const VmathSoaPoint3 *pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MinElem( const VmathSoaPoint3 *pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline vec_float4 vmathSoaP3Sum( const VmathSoaPoint3 *pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline void vmathSoaP3Scale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, vec_float4 scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline void vmathSoaP3NonUniformScale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline vec_float4 vmathSoaP3Projection( const VmathSoaPoint3 *pnt, const VmathSoaVector3 *unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistSqrFromOrigin( const VmathSoaPoint3 *pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistFromOrigin( const VmathSoaPoint3 *pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3DistSqr( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3Dist( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaP3Lerp( VmathSoaPoint3 *result, vec_float4 t, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaP3Select( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathSoaP3LoadXYZArray( VmathSoaPoint3 *pnt, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D point in three quadwords + */ +static inline void vmathSoaP3StoreXYZArray( const VmathSoaPoint3 *pnt, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D points as half-floats + */ +static inline void vmathSoaP3StoreHalfFloats( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Print( const VmathSoaPoint3 *pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Prints( const VmathSoaPoint3 *pnt, const char *name ); + +#endif + +/* + * Copy a quaternion + */ +static inline void vmathSoaQCopy( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline void vmathSoaQMakeFromElems( VmathSoaQuat *result, vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline void vmathSoaQMakeFromV3Scalar( VmathSoaQuat *result, const VmathSoaVector3 *xyz, vec_float4 w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline void vmathSoaQMakeFromV4( VmathSoaQuat *result, const VmathSoaVector4 *vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline void vmathSoaQMakeFromM3( VmathSoaQuat *result, const VmathSoaMatrix3 *rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline void vmathSoaQMakeFromScalar( VmathSoaQuat *result, vec_float4 scalar ); + +/* + * Replicate an AoS quaternion + */ +static inline void vmathSoaQMakeFromAos( VmathSoaQuat *result, const VmathQuat *quat ); + +/* + * Insert four AoS quaternions + */ +static inline void vmathSoaQMakeFrom4Aos( VmathSoaQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, const VmathQuat *quat2, const VmathQuat *quat3 ); + +/* + * Extract four AoS quaternions + */ +static inline void vmathSoaQGet4Aos( const VmathSoaQuat *quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaQSetXYZ( VmathSoaQuat *result, const VmathSoaVector3 *vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline void vmathSoaQGetXYZ( VmathSoaVector3 *result, const VmathSoaQuat *quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathSoaQSetX( VmathSoaQuat *result, vec_float4 x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathSoaQSetY( VmathSoaQuat *result, vec_float4 y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathSoaQSetZ( VmathSoaQuat *result, vec_float4 z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathSoaQSetW( VmathSoaQuat *result, vec_float4 w ); + +/* + * Get the x element of a quaternion + */ +static inline vec_float4 vmathSoaQGetX( const VmathSoaQuat *quat ); + +/* + * Get the y element of a quaternion + */ +static inline vec_float4 vmathSoaQGetY( const VmathSoaQuat *quat ); + +/* + * Get the z element of a quaternion + */ +static inline vec_float4 vmathSoaQGetZ( const VmathSoaQuat *quat ); + +/* + * Get the w element of a quaternion + */ +static inline vec_float4 vmathSoaQGetW( const VmathSoaQuat *quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathSoaQSetElem( VmathSoaQuat *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline vec_float4 vmathSoaQGetElem( const VmathSoaQuat *quat, int idx ); + +/* + * Add two quaternions + */ +static inline void vmathSoaQAdd( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline void vmathSoaQSub( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Multiply two quaternions + */ +static inline void vmathSoaQMul( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline void vmathSoaQScalarMul( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline void vmathSoaQScalarDiv( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline void vmathSoaQNeg( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Construct an identity quaternion + */ +static inline void vmathSoaQMakeIdentity( VmathSoaQuat *result ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline void vmathSoaQMakeRotationArc( VmathSoaQuat *result, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaQMakeRotationAxis( VmathSoaQuat *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline void vmathSoaQMakeRotationX( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline void vmathSoaQMakeRotationY( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline void vmathSoaQMakeRotationZ( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline void vmathSoaQConj( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline void vmathSoaQRotate( VmathSoaVector3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline vec_float4 vmathSoaQDot( const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline vec_float4 vmathSoaQNorm( const VmathSoaQuat *quat ); + +/* + * Compute the length of a quaternion + */ +static inline vec_float4 vmathSoaQLength( const VmathSoaQuat *quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline void vmathSoaQNormalize( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaQLerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaQSlerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline void vmathSoaQSquad( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1, const VmathSoaQuat *unitQuat2, const VmathSoaQuat *unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaQSelect( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrint( const VmathSoaQuat *quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrints( const VmathSoaQuat *quat, const char *name ); + +#endif + +/* + * Copy a 3x3 matrix + */ +static inline void vmathSoaM3Copy( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline void vmathSoaM3MakeFromCols( VmathSoaMatrix3 *result, const VmathSoaVector3 *col0, const VmathSoaVector3 *col1, const VmathSoaVector3 *col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM3MakeFromQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline void vmathSoaM3MakeFromScalar( VmathSoaMatrix3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3x3 matrix + */ +static inline void vmathSoaM3MakeFromAos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Insert four AoS 3x3 matrices + */ +static inline void vmathSoaM3MakeFrom4Aos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, const VmathMatrix3 *mat2, const VmathMatrix3 *mat3 ); + +/* + * Extract four AoS 3x3 matrices + */ +static inline void vmathSoaM3Get4Aos( const VmathSoaMatrix3 *mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol0( VmathSoaMatrix3 *result, const VmathSoaVector3 *col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol1( VmathSoaMatrix3 *result, const VmathSoaVector3 *col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol2( VmathSoaMatrix3 *result, const VmathSoaVector3 *col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol0( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol1( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol2( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetCol( VmathSoaMatrix3 *result, int col, const VmathSoaVector3 *vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetRow( VmathSoaMatrix3 *result, int row, const VmathSoaVector3 *vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3GetCol( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3GetRow( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathSoaM3SetElem( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM3GetElem( const VmathSoaMatrix3 *mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline void vmathSoaM3Add( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline void vmathSoaM3Sub( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline void vmathSoaM3Neg( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline void vmathSoaM3ScalarMul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, vec_float4 scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline void vmathSoaM3MulV3( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline void vmathSoaM3Mul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline void vmathSoaM3MakeIdentity( VmathSoaMatrix3 *result ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline void vmathSoaM3MakeRotationX( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline void vmathSoaM3MakeRotationY( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline void vmathSoaM3MakeRotationZ( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaM3MakeRotationZYX( VmathSoaMatrix3 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaM3MakeRotationAxis( VmathSoaMatrix3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM3MakeRotationQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline void vmathSoaM3MakeScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM3AppendScale( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM3PrependScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix3 *mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline void vmathSoaM3MulPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline void vmathSoaM3AbsPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline void vmathSoaM3Transpose( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM3Inverse( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline vec_float4 vmathSoaM3Determinant( const VmathSoaMatrix3 *mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaM3Select( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Print( const VmathSoaMatrix3 *mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Prints( const VmathSoaMatrix3 *mat, const char *name ); + +#endif + +/* + * Copy a 4x4 matrix + */ +static inline void vmathSoaM4Copy( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline void vmathSoaM4MakeFromCols( VmathSoaMatrix4 *result, const VmathSoaVector4 *col0, const VmathSoaVector4 *col1, const VmathSoaVector4 *col2, const VmathSoaVector4 *col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline void vmathSoaM4MakeFromT3( VmathSoaMatrix4 *result, const VmathSoaTransform3 *mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathSoaM4MakeFromM3V3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathSoaM4MakeFromQV3( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline void vmathSoaM4MakeFromScalar( VmathSoaMatrix4 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 4x4 matrix + */ +static inline void vmathSoaM4MakeFromAos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Insert four AoS 4x4 matrices + */ +static inline void vmathSoaM4MakeFrom4Aos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, const VmathMatrix4 *mat2, const VmathMatrix4 *mat3 ); + +/* + * Extract four AoS 4x4 matrices + */ +static inline void vmathSoaM4Get4Aos( const VmathSoaMatrix4 *mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetUpper3x3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline void vmathSoaM4GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline void vmathSoaM4GetTranslation( VmathSoaVector3 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol0( VmathSoaMatrix4 *result, const VmathSoaVector4 *col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol1( VmathSoaMatrix4 *result, const VmathSoaVector4 *col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol2( VmathSoaMatrix4 *result, const VmathSoaVector4 *col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol3( VmathSoaMatrix4 *result, const VmathSoaVector4 *col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol0( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol1( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol2( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetCol( VmathSoaMatrix4 *result, int col, const VmathSoaVector4 *vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetRow( VmathSoaMatrix4 *result, int row, const VmathSoaVector4 *vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4GetCol( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4GetRow( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathSoaM4SetElem( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM4GetElem( const VmathSoaMatrix4 *mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline void vmathSoaM4Add( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline void vmathSoaM4Sub( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline void vmathSoaM4Neg( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline void vmathSoaM4ScalarMul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, vec_float4 scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline void vmathSoaM4MulV4( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector4 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline void vmathSoaM4MulV3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline void vmathSoaM4MulP3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaPoint3 *pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline void vmathSoaM4Mul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline void vmathSoaM4MulT3( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaTransform3 *tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline void vmathSoaM4MakeIdentity( VmathSoaMatrix4 *result ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline void vmathSoaM4MakeRotationX( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline void vmathSoaM4MakeRotationY( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline void vmathSoaM4MakeRotationZ( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaM4MakeRotationZYX( VmathSoaMatrix4 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaM4MakeRotationAxis( VmathSoaMatrix4 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM4MakeRotationQ( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline void vmathSoaM4MakeScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline void vmathSoaM4MakeTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline void vmathSoaM4MakeLookAt( VmathSoaMatrix4 *result, const VmathSoaPoint3 *eyePos, const VmathSoaPoint3 *lookAtPos, const VmathSoaVector3 *upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline void vmathSoaM4MakePerspective( VmathSoaMatrix4 *result, vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline void vmathSoaM4MakeFrustum( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline void vmathSoaM4MakeOrthographic( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM4AppendScale( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM4PrependScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix4 *mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline void vmathSoaM4MulPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline void vmathSoaM4AbsPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline void vmathSoaM4Transpose( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM4Inverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM4AffineInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline void vmathSoaM4OrthoInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline vec_float4 vmathSoaM4Determinant( const VmathSoaMatrix4 *mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaM4Select( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Print( const VmathSoaMatrix4 *mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Prints( const VmathSoaMatrix4 *mat, const char *name ); + +#endif + +/* + * Copy a 3x4 transformation matrix + */ +static inline void vmathSoaT3Copy( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline void vmathSoaT3MakeFromCols( VmathSoaTransform3 *result, const VmathSoaVector3 *col0, const VmathSoaVector3 *col1, const VmathSoaVector3 *col2, const VmathSoaVector3 *col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathSoaT3MakeFromM3V3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm, const VmathSoaVector3 *translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathSoaT3MakeFromQV3( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline void vmathSoaT3MakeFromScalar( VmathSoaTransform3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3x4 transformation matrix + */ +static inline void vmathSoaT3MakeFromAos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Insert four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3MakeFrom4Aos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, const VmathTransform3 *tfrm2, const VmathTransform3 *tfrm3 ); + +/* + * Extract four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3Get4Aos( const VmathSoaTransform3 *tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathSoaT3SetUpper3x3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set translation component + */ +static inline void vmathSoaT3SetTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetTranslation( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol0( VmathSoaTransform3 *result, const VmathSoaVector3 *col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol1( VmathSoaTransform3 *result, const VmathSoaVector3 *col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol2( VmathSoaTransform3 *result, const VmathSoaVector3 *col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol3( VmathSoaTransform3 *result, const VmathSoaVector3 *col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol0( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol1( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol2( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetCol( VmathSoaTransform3 *result, int col, const VmathSoaVector3 *vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetRow( VmathSoaTransform3 *result, int row, const VmathSoaVector4 *vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3GetCol( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3GetRow( VmathSoaVector4 *result, const VmathSoaTransform3 *tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathSoaT3SetElem( VmathSoaTransform3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaT3GetElem( const VmathSoaTransform3 *tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline void vmathSoaT3MulV3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline void vmathSoaT3MulP3( VmathSoaPoint3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaPoint3 *pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline void vmathSoaT3Mul( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline void vmathSoaT3MakeIdentity( VmathSoaTransform3 *result ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline void vmathSoaT3MakeRotationX( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline void vmathSoaT3MakeRotationY( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline void vmathSoaT3MakeRotationZ( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaT3MakeRotationZYX( VmathSoaTransform3 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaT3MakeRotationAxis( VmathSoaTransform3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaT3MakeRotationQ( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline void vmathSoaT3MakeScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline void vmathSoaT3MakeTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaT3AppendScale( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaT3PrependScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaTransform3 *tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline void vmathSoaT3MulPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline void vmathSoaT3AbsPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline void vmathSoaT3Inverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline void vmathSoaT3OrthoInverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaT3Select( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Print( const VmathSoaTransform3 *tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Prints( const VmathSoaTransform3 *tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vec_soa.h" +#include "quat_soa.h" +#include "mat_soa.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa_v.h b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa_v.h new file mode 100644 index 000000000..6865cef2f --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa_v.h @@ -0,0 +1,1979 @@ +/* + 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_SOA_C_V_H +#define _VECTORMATH_SOA_C_V_H + +#include +#include +#include "vectormath_aos_v.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_SOA_C_TYPES_H +#define _VECTORMATH_SOA_C_TYPES_H + +/* A set of four 3-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaVector3; + +/* A set of four 4-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector4 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaVector4; + +/* A set of four 3-D points in structure-of-arrays format + */ +typedef struct _VmathSoaPoint3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaPoint3; + +/* A set of four quaternions in structure-of-arrays format + */ +typedef struct _VmathSoaQuat +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaQuat; + +/* A set of four 3x3 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; +} VmathSoaMatrix3; + +/* A set of four 4x4 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix4 +{ + VmathSoaVector4 col0; + VmathSoaVector4 col1; + VmathSoaVector4 col2; + VmathSoaVector4 col3; +} VmathSoaMatrix4; + +/* A set of four 3x4 transformation matrices in structure-of-arrays format + */ +typedef struct _VmathSoaTransform3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; + VmathSoaVector3 col3; +} VmathSoaTransform3; + +#endif + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromP3_V( VmathSoaPoint3 pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromAos_V( VmathVector3 vec ); + +/* + * Insert four AoS 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3MakeFrom4Aos_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3 ); + +/* + * Extract four AoS 3-D vectors + */ +static inline void vmathSoaV3Get4Aos_V( VmathSoaVector3 vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathSoaV3SetX_V( VmathSoaVector3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathSoaV3SetY_V( VmathSoaVector3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathSoaV3SetZ_V( VmathSoaVector3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetX_V( VmathSoaVector3 vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetY_V( VmathSoaVector3 vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetZ_V( VmathSoaVector3 vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathSoaV3SetElem_V( VmathSoaVector3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline vec_float4 vmathSoaV3GetElem_V( VmathSoaVector3 vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3Add_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3Sub_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaV3AddP3_V( VmathSoaVector3 vec, VmathSoaPoint3 pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline VmathSoaVector3 vmathSoaV3ScalarMul_V( VmathSoaVector3 vec, vec_float4 scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline VmathSoaVector3 vmathSoaV3ScalarDiv_V( VmathSoaVector3 vec, vec_float4 scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3Neg_V( VmathSoaVector3 vec ); + +/* + * Construct x axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeZAxis_V( ); + +/* + * Multiply two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MulPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaVector3 vmathSoaV3DivPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaVector3 vmathSoaV3RecipPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaVector3 vmathSoaV3SqrtPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaVector3 vmathSoaV3RsqrtPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline VmathSoaVector3 vmathSoaV3AbsPerElem_V( VmathSoaVector3 vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline VmathSoaVector3 vmathSoaV3CopySignPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MaxPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MinPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MaxElem_V( VmathSoaVector3 vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MinElem_V( VmathSoaVector3 vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Sum_V( VmathSoaVector3 vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline vec_float4 vmathSoaV3Dot_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3LengthSqr_V( VmathSoaVector3 vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Length_V( VmathSoaVector3 vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathSoaVector3 vmathSoaV3Normalize_V( VmathSoaVector3 vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3Cross_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline VmathSoaMatrix3 vmathSoaV3Outer_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaV3RowMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrix_V( VmathSoaVector3 vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrixMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector3 vmathSoaV3Lerp_V( vec_float4 t, VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector3 vmathSoaV3Slerp_V( vec_float4 t, VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaVector3 vmathSoaV3Select_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathSoaV3LoadXYZArray_V( VmathSoaVector3 *vec, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D vector in three quadwords + */ +static inline void vmathSoaV3StoreXYZArray_V( VmathSoaVector3 vec, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D vectors as half-floats + */ +static inline void vmathSoaV3StoreHalfFloats_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Print_V( VmathSoaVector3 vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Prints_V( VmathSoaVector3 vec, const char *name ); + +#endif + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromV3_V( VmathSoaVector3 vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromP3_V( VmathSoaPoint3 pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromQ_V( VmathSoaQuat quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromAos_V( VmathVector4 vec ); + +/* + * Insert four AoS 4-D vectors + */ +static inline VmathSoaVector4 vmathSoaV4MakeFrom4Aos_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3 ); + +/* + * Extract four AoS 4-D vectors + */ +static inline void vmathSoaV4Get4Aos_V( VmathSoaVector4 vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaV4SetXYZ_V( VmathSoaVector4 *result, VmathSoaVector3 vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline VmathSoaVector3 vmathSoaV4GetXYZ_V( VmathSoaVector4 vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathSoaV4SetX_V( VmathSoaVector4 *result, vec_float4 x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathSoaV4SetY_V( VmathSoaVector4 *result, vec_float4 y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathSoaV4SetZ_V( VmathSoaVector4 *result, vec_float4 z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathSoaV4SetW_V( VmathSoaVector4 *result, vec_float4 w ); + +/* + * Get the x element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetX_V( VmathSoaVector4 vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetY_V( VmathSoaVector4 vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetZ_V( VmathSoaVector4 vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetW_V( VmathSoaVector4 vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathSoaV4SetElem_V( VmathSoaVector4 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline vec_float4 vmathSoaV4GetElem_V( VmathSoaVector4 vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline VmathSoaVector4 vmathSoaV4Add_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4Sub_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline VmathSoaVector4 vmathSoaV4ScalarMul_V( VmathSoaVector4 vec, vec_float4 scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline VmathSoaVector4 vmathSoaV4ScalarDiv_V( VmathSoaVector4 vec, vec_float4 scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4Neg_V( VmathSoaVector4 vec ); + +/* + * Construct x axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeZAxis_V( ); + +/* + * Construct w axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeWAxis_V( ); + +/* + * Multiply two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MulPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaVector4 vmathSoaV4DivPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaVector4 vmathSoaV4RecipPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaVector4 vmathSoaV4SqrtPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaVector4 vmathSoaV4RsqrtPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline VmathSoaVector4 vmathSoaV4AbsPerElem_V( VmathSoaVector4 vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline VmathSoaVector4 vmathSoaV4CopySignPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MaxPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MinPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MaxElem_V( VmathSoaVector4 vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MinElem_V( VmathSoaVector4 vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Sum_V( VmathSoaVector4 vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline vec_float4 vmathSoaV4Dot_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4LengthSqr_V( VmathSoaVector4 vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Length_V( VmathSoaVector4 vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathSoaVector4 vmathSoaV4Normalize_V( VmathSoaVector4 vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline VmathSoaMatrix4 vmathSoaV4Outer_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector4 vmathSoaV4Lerp_V( vec_float4 t, VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector4 vmathSoaV4Slerp_V( vec_float4 t, VmathSoaVector4 unitVec0, VmathSoaVector4 unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaVector4 vmathSoaV4Select_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1, vec_uint4 select1 ); + +/* + * Store four slots of an SoA 4-D vector as half-floats + */ +static inline void vmathSoaV4StoreHalfFloats_V( VmathSoaVector4 vec, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Print_V( VmathSoaVector4 vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Prints_V( VmathSoaVector4 vec, const char *name ); + +#endif + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromV3_V( VmathSoaVector3 vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromAos_V( VmathPoint3 pnt ); + +/* + * Insert four AoS 3-D points + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFrom4Aos_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3 ); + +/* + * Extract four AoS 3-D points + */ +static inline void vmathSoaP3Get4Aos_V( VmathSoaPoint3 pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathSoaP3SetX_V( VmathSoaPoint3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathSoaP3SetY_V( VmathSoaPoint3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathSoaP3SetZ_V( VmathSoaPoint3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetX_V( VmathSoaPoint3 pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetY_V( VmathSoaPoint3 pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetZ_V( VmathSoaPoint3 pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathSoaP3SetElem_V( VmathSoaPoint3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline vec_float4 vmathSoaP3GetElem_V( VmathSoaPoint3 pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline VmathSoaVector3 vmathSoaP3Sub_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline VmathSoaPoint3 vmathSoaP3AddV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3SubV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec ); + +/* + * Multiply two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MulPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaPoint3 vmathSoaP3DivPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaPoint3 vmathSoaP3RecipPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaPoint3 vmathSoaP3SqrtPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaPoint3 vmathSoaP3RsqrtPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline VmathSoaPoint3 vmathSoaP3AbsPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline VmathSoaPoint3 vmathSoaP3CopySignPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MaxPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MinPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MaxElem_V( VmathSoaPoint3 pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MinElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline vec_float4 vmathSoaP3Sum_V( VmathSoaPoint3 pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3Scale_V( VmathSoaPoint3 pnt, vec_float4 scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3NonUniformScale_V( VmathSoaPoint3 pnt, VmathSoaVector3 scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline vec_float4 vmathSoaP3Projection_V( VmathSoaPoint3 pnt, VmathSoaVector3 unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistSqrFromOrigin_V( VmathSoaPoint3 pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistFromOrigin_V( VmathSoaPoint3 pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3DistSqr_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3Dist_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaPoint3 vmathSoaP3Lerp_V( vec_float4 t, VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaPoint3 vmathSoaP3Select_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathSoaP3LoadXYZArray_V( VmathSoaPoint3 *pnt, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D point in three quadwords + */ +static inline void vmathSoaP3StoreXYZArray_V( VmathSoaPoint3 pnt, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D points as half-floats + */ +static inline void vmathSoaP3StoreHalfFloats_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Print_V( VmathSoaPoint3 pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Prints_V( VmathSoaPoint3 pnt, const char *name ); + +#endif + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline VmathSoaQuat vmathSoaQMakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline VmathSoaQuat vmathSoaQMakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromV4_V( VmathSoaVector4 vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromM3_V( VmathSoaMatrix3 rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline VmathSoaQuat vmathSoaQMakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromAos_V( VmathQuat quat ); + +/* + * Insert four AoS quaternions + */ +static inline VmathSoaQuat vmathSoaQMakeFrom4Aos_V( VmathQuat quat0, VmathQuat quat1, VmathQuat quat2, VmathQuat quat3 ); + +/* + * Extract four AoS quaternions + */ +static inline void vmathSoaQGet4Aos_V( VmathSoaQuat quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaQSetXYZ_V( VmathSoaQuat *result, VmathSoaVector3 vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline VmathSoaVector3 vmathSoaQGetXYZ_V( VmathSoaQuat quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathSoaQSetX_V( VmathSoaQuat *result, vec_float4 x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathSoaQSetY_V( VmathSoaQuat *result, vec_float4 y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathSoaQSetZ_V( VmathSoaQuat *result, vec_float4 z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathSoaQSetW_V( VmathSoaQuat *result, vec_float4 w ); + +/* + * Get the x element of a quaternion + */ +static inline vec_float4 vmathSoaQGetX_V( VmathSoaQuat quat ); + +/* + * Get the y element of a quaternion + */ +static inline vec_float4 vmathSoaQGetY_V( VmathSoaQuat quat ); + +/* + * Get the z element of a quaternion + */ +static inline vec_float4 vmathSoaQGetZ_V( VmathSoaQuat quat ); + +/* + * Get the w element of a quaternion + */ +static inline vec_float4 vmathSoaQGetW_V( VmathSoaQuat quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathSoaQSetElem_V( VmathSoaQuat *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline vec_float4 vmathSoaQGetElem_V( VmathSoaQuat quat, int idx ); + +/* + * Add two quaternions + */ +static inline VmathSoaQuat vmathSoaQAdd_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline VmathSoaQuat vmathSoaQSub_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Multiply two quaternions + */ +static inline VmathSoaQuat vmathSoaQMul_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline VmathSoaQuat vmathSoaQScalarMul_V( VmathSoaQuat quat, vec_float4 scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline VmathSoaQuat vmathSoaQScalarDiv_V( VmathSoaQuat quat, vec_float4 scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline VmathSoaQuat vmathSoaQNeg_V( VmathSoaQuat quat ); + +/* + * Construct an identity quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeIdentity_V( ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline VmathSoaQuat vmathSoaQMakeRotationArc_V( VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline VmathSoaQuat vmathSoaQMakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationX_V( vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationY_V( vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationZ_V( vec_float4 radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline VmathSoaQuat vmathSoaQConj_V( VmathSoaQuat quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaQRotate_V( VmathSoaQuat unitQuat, VmathSoaVector3 vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline vec_float4 vmathSoaQDot_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline vec_float4 vmathSoaQNorm_V( VmathSoaQuat quat ); + +/* + * Compute the length of a quaternion + */ +static inline vec_float4 vmathSoaQLength_V( VmathSoaQuat quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline VmathSoaQuat vmathSoaQNormalize_V( VmathSoaQuat quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaQuat vmathSoaQLerp_V( vec_float4 t, VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaQuat vmathSoaQSlerp_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline VmathSoaQuat vmathSoaQSquad_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1, VmathSoaQuat unitQuat2, VmathSoaQuat unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaQuat vmathSoaQSelect_V( VmathSoaQuat quat0, VmathSoaQuat quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrint_V( VmathSoaQuat quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrints_V( VmathSoaQuat quat, const char *name ); + +#endif + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromCols_V( VmathSoaVector3 col0, VmathSoaVector3 col1, VmathSoaVector3 col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromQ_V( VmathSoaQuat unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromAos_V( VmathMatrix3 mat ); + +/* + * Insert four AoS 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFrom4Aos_V( VmathMatrix3 mat0, VmathMatrix3 mat1, VmathMatrix3 mat2, VmathMatrix3 mat3 ); + +/* + * Extract four AoS 3x3 matrices + */ +static inline void vmathSoaM3Get4Aos_V( VmathSoaMatrix3 mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol0_V( VmathSoaMatrix3 *result, VmathSoaVector3 col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol1_V( VmathSoaMatrix3 *result, VmathSoaVector3 col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol2_V( VmathSoaMatrix3 *result, VmathSoaVector3 col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol0_V( VmathSoaMatrix3 mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol1_V( VmathSoaMatrix3 mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol2_V( VmathSoaMatrix3 mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetCol_V( VmathSoaMatrix3 *result, int col, VmathSoaVector3 vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetRow_V( VmathSoaMatrix3 *result, int row, VmathSoaVector3 vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaM3GetCol_V( VmathSoaMatrix3 mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaM3GetRow_V( VmathSoaMatrix3 mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathSoaM3SetElem_V( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM3GetElem_V( VmathSoaMatrix3 mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3Add_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Sub_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Neg_V( VmathSoaMatrix3 mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline VmathSoaMatrix3 vmathSoaM3ScalarMul_V( VmathSoaMatrix3 mat, vec_float4 scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaM3MulV3_V( VmathSoaMatrix3 mat, VmathSoaVector3 vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3Mul_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeIdentity_V( ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix3 vmathSoaM3AppendScale_V( VmathSoaMatrix3 mat, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix3 vmathSoaM3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix3 mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline VmathSoaMatrix3 vmathSoaM3MulPerElem_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline VmathSoaMatrix3 vmathSoaM3AbsPerElem_V( VmathSoaMatrix3 mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Transpose_V( VmathSoaMatrix3 mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix3 vmathSoaM3Inverse_V( VmathSoaMatrix3 mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline vec_float4 vmathSoaM3Determinant_V( VmathSoaMatrix3 mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaMatrix3 vmathSoaM3Select_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Print_V( VmathSoaMatrix3 mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Prints_V( VmathSoaMatrix3 mat, const char *name ); + +#endif + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromCols_V( VmathSoaVector4 col0, VmathSoaVector4 col1, VmathSoaVector4 col2, VmathSoaVector4 col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromT3_V( VmathSoaTransform3 mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromM3V3_V( VmathSoaMatrix3 mat, VmathSoaVector3 translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromAos_V( VmathMatrix4 mat ); + +/* + * Insert four AoS 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFrom4Aos_V( VmathMatrix4 mat0, VmathMatrix4 mat1, VmathMatrix4 mat2, VmathMatrix4 mat3 ); + +/* + * Extract four AoS 4x4 matrices + */ +static inline void vmathSoaM4Get4Aos_V( VmathSoaMatrix4 mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetUpper3x3_V( VmathSoaMatrix4 *result, VmathSoaMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM4GetUpper3x3_V( VmathSoaMatrix4 mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetTranslation_V( VmathSoaMatrix4 *result, VmathSoaVector3 translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline VmathSoaVector3 vmathSoaM4GetTranslation_V( VmathSoaMatrix4 mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol0_V( VmathSoaMatrix4 *result, VmathSoaVector4 col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol1_V( VmathSoaMatrix4 *result, VmathSoaVector4 col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol2_V( VmathSoaMatrix4 *result, VmathSoaVector4 col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol3_V( VmathSoaMatrix4 *result, VmathSoaVector4 col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol0_V( VmathSoaMatrix4 mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol1_V( VmathSoaMatrix4 mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol2_V( VmathSoaMatrix4 mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol3_V( VmathSoaMatrix4 mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetCol_V( VmathSoaMatrix4 *result, int col, VmathSoaVector4 vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetRow_V( VmathSoaMatrix4 *result, int row, VmathSoaVector4 vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaM4GetCol_V( VmathSoaMatrix4 mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaM4GetRow_V( VmathSoaMatrix4 mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathSoaM4SetElem_V( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM4GetElem_V( VmathSoaMatrix4 mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4Add_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Sub_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Neg_V( VmathSoaMatrix4 mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline VmathSoaMatrix4 vmathSoaM4ScalarMul_V( VmathSoaMatrix4 mat, vec_float4 scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaM4MulV4_V( VmathSoaMatrix4 mat, VmathSoaVector4 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline VmathSoaVector4 vmathSoaM4MulV3_V( VmathSoaMatrix4 mat, VmathSoaVector3 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline VmathSoaVector4 vmathSoaM4MulP3_V( VmathSoaMatrix4 mat, VmathSoaPoint3 pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4Mul_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MulT3_V( VmathSoaMatrix4 mat, VmathSoaTransform3 tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeIdentity_V( ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeTranslation_V( VmathSoaVector3 translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeLookAt_V( VmathSoaPoint3 eyePos, VmathSoaPoint3 lookAtPos, VmathSoaVector3 upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakePerspective_V( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFrustum_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeOrthographic_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix4 vmathSoaM4AppendScale_V( VmathSoaMatrix4 mat, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix4 vmathSoaM4PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix4 mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline VmathSoaMatrix4 vmathSoaM4MulPerElem_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline VmathSoaMatrix4 vmathSoaM4AbsPerElem_V( VmathSoaMatrix4 mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Transpose_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix4 vmathSoaM4Inverse_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix4 vmathSoaM4AffineInverse_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline VmathSoaMatrix4 vmathSoaM4OrthoInverse_V( VmathSoaMatrix4 mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline vec_float4 vmathSoaM4Determinant_V( VmathSoaMatrix4 mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaMatrix4 vmathSoaM4Select_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Print_V( VmathSoaMatrix4 mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Prints_V( VmathSoaMatrix4 mat, const char *name ); + +#endif + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromCols_V( VmathSoaVector3 col0, VmathSoaVector3 col1, VmathSoaVector3 col2, VmathSoaVector3 col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromM3V3_V( VmathSoaMatrix3 tfrm, VmathSoaVector3 translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3x4 transformation matrix + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromAos_V( VmathTransform3 tfrm ); + +/* + * Insert four AoS 3x4 transformation matrices + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFrom4Aos_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, VmathTransform3 tfrm2, VmathTransform3 tfrm3 ); + +/* + * Extract four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3Get4Aos_V( VmathSoaTransform3 tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathSoaT3SetUpper3x3_V( VmathSoaTransform3 *result, VmathSoaMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline VmathSoaMatrix3 vmathSoaT3GetUpper3x3_V( VmathSoaTransform3 tfrm ); + +/* + * Set translation component + */ +static inline void vmathSoaT3SetTranslation_V( VmathSoaTransform3 *result, VmathSoaVector3 translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetTranslation_V( VmathSoaTransform3 tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol0_V( VmathSoaTransform3 *result, VmathSoaVector3 col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol1_V( VmathSoaTransform3 *result, VmathSoaVector3 col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol2_V( VmathSoaTransform3 *result, VmathSoaVector3 col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol3_V( VmathSoaTransform3 *result, VmathSoaVector3 col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol0_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol1_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol2_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol3_V( VmathSoaTransform3 tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetCol_V( VmathSoaTransform3 *result, int col, VmathSoaVector3 vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetRow_V( VmathSoaTransform3 *result, int row, VmathSoaVector4 vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaT3GetCol_V( VmathSoaTransform3 tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaT3GetRow_V( VmathSoaTransform3 tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathSoaT3SetElem_V( VmathSoaTransform3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaT3GetElem_V( VmathSoaTransform3 tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaT3MulV3_V( VmathSoaTransform3 tfrm, VmathSoaVector3 vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaT3MulP3_V( VmathSoaTransform3 tfrm, VmathSoaPoint3 pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline VmathSoaTransform3 vmathSoaT3Mul_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline VmathSoaTransform3 vmathSoaT3MakeIdentity_V( ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline VmathSoaTransform3 vmathSoaT3MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline VmathSoaTransform3 vmathSoaT3MakeTranslation_V( VmathSoaVector3 translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaTransform3 vmathSoaT3AppendScale_V( VmathSoaTransform3 tfrm, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaTransform3 vmathSoaT3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaTransform3 tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline VmathSoaTransform3 vmathSoaT3MulPerElem_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline VmathSoaTransform3 vmathSoaT3AbsPerElem_V( VmathSoaTransform3 tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline VmathSoaTransform3 vmathSoaT3Inverse_V( VmathSoaTransform3 tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline VmathSoaTransform3 vmathSoaT3OrthoInverse_V( VmathSoaTransform3 tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaTransform3 vmathSoaT3Select_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Print_V( VmathSoaTransform3 tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Prints_V( VmathSoaTransform3 tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vectormath_soa.h" +#include "vec_soa_v.h" +#include "quat_soa_v.h" +#include "mat_soa_v.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/boolInVec.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/boolInVec.h new file mode 100644 index 000000000..d928c0f58 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/boolInVec.h @@ -0,0 +1,261 @@ +/* + 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 +#include +#include "vec_types.h" +#undef bool + +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 splatted across all word slots 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) +{ +#ifdef __GNUC__ + if (__builtin_constant_p(scalar)) + { + const unsigned int mask = -(int)scalar; + mData = (vec_uint4){mask, mask, mask, mask}; + } + else +#endif + { + unsigned int mask = -(int)scalar; + vec_uint4 vec = vec_ld(0, &mask); + mData = vec_splat(vec_perm(vec, vec, vec_lvsl(0, &mask)), 0); + } +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +bool +boolInVec::getAsBool() const +#else +inline +boolInVec::operator bool() const +#endif +{ + return vec_all_gt(mData, ((vec_uint4){0,0,0,0})); +} + +inline +vec_uint4 +boolInVec::get128() const +{ + return mData; +} + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(vec_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((vec_uint4)vec_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(vec_and(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator | (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec_or(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator ^ (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec_xor(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1) +{ + return boolInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // boolInVec_h diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/floatInVec.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/floatInVec.h new file mode 100644 index 000000000..54eb72523 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/floatInVec.h @@ -0,0 +1,361 @@ +/* + 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 +#include +#include +#include "vec_types.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 splatted across all word slots 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 = vec_ctf(vec_sub((vec_uint4){0,0,0,0}, vec.get128()), 0); +} + +inline +floatInVec::floatInVec(vec_float4 vec, int slot) +{ +#ifdef __GNUC__ + if (__builtin_constant_p(slot)) + { + mData = vec_splat(vec, slot); + } + else +#endif + { + const vec_uchar16 shiftpattern = vec_lvsl(0, (float *)(size_t)(slot << 2)); + mData = vec_splat(vec_perm(vec, vec, shiftpattern), 0); + } +} + +inline +floatInVec::floatInVec(float scalar) +{ +#ifdef __GNUC__ + if (__builtin_constant_p(scalar)) + { + mData = (vec_float4){scalar, scalar, scalar, scalar}; + } + else +#endif + { + vec_float4 vec = vec_ld(0, &scalar); + mData = vec_splat(vec_perm(vec, vec, vec_lvsl(0, &scalar)), 0); + } +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +float +floatInVec::getAsFloat() const +#else +inline +floatInVec::operator float() const +#endif +{ + return *((float *)&mData); +} + +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((vec_float4){1.0f,1.0f,1.0f,1.0f}); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec((vec_float4){1.0f,1.0f,1.0f,1.0f}); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec((vec_float4)vec_xor((vec_uint4)mData, (vec_uint4){0x80000000,0x80000000,0x80000000,0x80000000})); +} + +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(vec_madd(vec0.get128(), vec1.get128(), (vec_float4){0,0,0,0})); +} + +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(vec_add(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +operator - (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec_sub(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator < (floatInVec vec0, floatInVec vec1) +{ + return boolInVec((vec_uint4)vec_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((vec_uint4)vec_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((vec_uint4)vec_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(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // floatInVec_h diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_aos.h new file mode 100644 index 000000000..77a184725 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_aos.h @@ -0,0 +1,2188 @@ +/* + 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_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z }) +#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y }) +#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( floatInVec scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( Quat unitQuat ) +{ + vec_float4 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + vec_uint4 select_x = _VECTORMATH_MASK_0xF000; + vec_uint4 select_z = _VECTORMATH_MASK_0x00F0; + xyzw_2 = vec_add( unitQuat.get128(), unitQuat.get128() ); + wwww = vec_splat( unitQuat.get128(), 3 ); + yzxw = vec_perm( unitQuat.get128(), unitQuat.get128(), _VECTORMATH_PERM_YZXW ); + zxyw = vec_perm( unitQuat.get128(), unitQuat.get128(), _VECTORMATH_PERM_ZXYW ); + yzxw_2 = vec_perm( xyzw_2, xyzw_2, _VECTORMATH_PERM_YZXW ); + zxyw_2 = vec_perm( xyzw_2, xyzw_2, _VECTORMATH_PERM_ZXYW ); + tmp0 = vec_madd( yzxw_2, wwww, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_nmsub( yzxw, yzxw_2, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + tmp2 = vec_madd( yzxw, xyzw_2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp0 = vec_madd( zxyw, xyzw_2, tmp0 ); + tmp1 = vec_nmsub( zxyw, zxyw_2, tmp1 ); + tmp2 = vec_nmsub( zxyw_2, wwww, tmp2 ); + tmp3 = vec_sel( tmp0, tmp1, select_x ); + tmp4 = vec_sel( tmp1, tmp2, select_x ); + tmp5 = vec_sel( tmp2, tmp0, select_x ); + mCol0 = Vector3( vec_sel( tmp3, tmp2, select_z ) ); + mCol1 = Vector3( vec_sel( tmp4, tmp0, select_z ) ); + mCol2 = Vector3( vec_sel( tmp5, tmp1, select_z ) ); +} + +inline Matrix3::Matrix3( Vector3 _col0, Vector3 _col1, Vector3 _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( Vector3 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( Vector3 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( Vector3 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, Vector3 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, Vector3 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, floatInVec val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline const floatInVec Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, res0, res1, res2; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + res0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + res1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + res2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp2 = _vmathVfCross( mat.getCol0().get128(), mat.getCol1().get128() ); + tmp0 = _vmathVfCross( mat.getCol1().get128(), mat.getCol2().get128() ); + tmp1 = _vmathVfCross( mat.getCol2().get128(), mat.getCol0().get128() ); + dot = _vmathVfDot3( tmp2, mat.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv0 = vec_madd( inv0, invdet, zero ); + inv1 = vec_madd( inv1, invdet, zero ); + inv2 = vec_madd( inv2, invdet, zero ); + return Matrix3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ) + ); +} + +inline const floatInVec determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +inline const Matrix3 Matrix3::operator *( floatInVec scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +inline Matrix3 & Matrix3::operator *=( floatInVec scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return floatInVec(scalar) * mat; +} + +inline const Matrix3 operator *( floatInVec scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mCol0.get128(), xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +inline const Matrix3 Matrix3::rotationX( floatInVec radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +inline const Matrix3 Matrix3::rotationY( floatInVec radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +inline const Matrix3 Matrix3::rotationZ( floatInVec radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + return Matrix3( + Vector3( vec_madd( Z0, Y0, zero ) ), + Vector3( vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, Vector3 unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +inline const Matrix3 Matrix3::rotation( floatInVec radians, Vector3 unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + axisS = vec_madd( axis, s, zero ); + negAxisS = negatef4( axisS ); + tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp0 = vec_sel( tmp0, c, _VECTORMATH_MASK_0xF000 ); + tmp1 = vec_sel( tmp1, c, _VECTORMATH_MASK_0x0F00 ); + tmp2 = vec_sel( tmp2, c, _VECTORMATH_MASK_0x00F0 ); + return Matrix3( + Vector3( vec_madd( vec_madd( axis, xxxx, zero ), oneMinusC, tmp0 ) ), + Vector3( vec_madd( vec_madd( axis, yyyy, zero ), oneMinusC, tmp1 ) ), + Vector3( vec_madd( vec_madd( axis, zzzz, zero ), oneMinusC, tmp2 ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( Quat unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( Vector3 scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + return Matrix3( + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0xF000 ) ), + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x0F00 ) ), + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x00F0 ) ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, Vector3 scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( Vector3 scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, boolInVec select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( floatInVec scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( Vector4 _col0, Vector4 _col1, Vector4 _col2, Vector4 _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, Vector3 translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( Quat unitQuat, Vector3 translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( Vector4 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( Vector4 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( Vector4 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( Vector4 _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, Vector4 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, Vector4 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, floatInVec val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline const floatInVec Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergeh( mat.getCol1().get128(), mat.getCol3().get128() ); + tmp2 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp3 = vec_mergel( mat.getCol1().get128(), mat.getCol3().get128() ); + res0 = vec_mergeh( tmp0, tmp1 ); + res1 = vec_mergel( tmp0, tmp1 ); + res2 = vec_mergeh( tmp2, tmp3 ); + res3 = vec_mergel( tmp2, tmp3 ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4( res2 ), + Vector4( res3 ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vector float in0, in1, in2, in3; + vector float tmp0, tmp1, tmp2, tmp3; + vector float cof0, cof1, cof2, cof3; + vector float t0, t1, t2, t3; + vector float t01, t02, t03, t12, t23; + vector float t1r, t2r; + vector float t01r, t02r, t03r, t12r, t23r; + vector float t1r3, t1r3r; + vector float det, det0, det1, det2, det3, invdet; + vector float vzero = (vector float){0.0}; + in0 = mat.getCol0().get128(); + in1 = mat.getCol1().get128(); + in2 = mat.getCol2().get128(); + in3 = mat.getCol3().get128(); + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = vec_perm(in0, in1, _VECTORMATH_PERM_XAZC); /* A E C G */ + tmp1 = vec_perm(in2, in3, _VECTORMATH_PERM_XAZC); /* I M K O */ + tmp2 = vec_perm(in0, in1, _VECTORMATH_PERM_YBWD); /* B F D H */ + tmp3 = vec_perm(in2, in3, _VECTORMATH_PERM_YBWD); /* J N L P */ + t0 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_XYAB); /* A E I M */ + t1 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_XYAB); /* J N B F */ + t2 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_ZWCD); /* C G K O */ + t3 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = vec_madd(t2, t3, vzero); /* CL GP KD OH */ + t23 = vec_perm(t23, t23, _VECTORMATH_PERM_YXWZ); /* GP CL OH KD */ + cof0 = vec_nmsub(t1, t23, vzero); /* -(JGP NCL FOH BKD) */ + cof1 = vec_nmsub(t0, t23, vzero); /* -(AGP ECL IOH MKD) */ + t23r = vec_sld(t23, t23, 8); /* OH KD GP CL */ + cof0 = vec_madd(t1, t23r, cof0); /* JOH NKD BGP FCL + cof0 */ + cof1 = vec_madd(t0, t23r, cof1); /* AOH EKD IGP MCL + cof1 */ + cof1 = vec_sld(cof1, cof1, 8); /* IGP MCL AOH EKD - IOH MKD AGP ECL */ + t12 = vec_madd(t1, t2, vzero); /* JC NG BK FO */ + t12 = vec_perm(t12, t12, _VECTORMATH_PERM_YXWZ); /* NG JC FO BK */ + cof0 = vec_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + cof3 = vec_madd(t0, t12, vzero); /* ANG EJC IFO MBK */ + t12r = vec_sld(t12, t12, 8); /* FO BK NG JC */ + cof0 = vec_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + cof3 = vec_nmsub(t0, t12r, cof3); /* cof3 - AFO EBK ING MJC */ + cof3 = vec_sld(cof3, cof3, 8); /* ING MJC AFO EBK - IFO MBK ANG EJC */ + t1r = vec_sld(t1, t1, 8); /* B F J N */ + t2r = vec_sld(t2, t2, 8); /* K O C G */ + t1r3 = vec_madd(t1r, t3, vzero); /* BL FP JD NH */ + t1r3 = vec_perm(t1r3, t1r3, _VECTORMATH_PERM_YXWZ); /* FP BL NH JD */ + cof0 = vec_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + cof2 = vec_madd(t0, t1r3, vzero); /* AFP EBL INH MJD */ + t1r3r = vec_sld(t1r3, t1r3, 8); /* NH JD FP BL */ + cof0 = vec_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + cof2 = vec_nmsub(t0, t1r3r, cof2); /* cof2 - ANH EJD IFP MBL */ + cof2 = vec_sld(cof2, cof2, 8); /* IFP MBL ANH EJD - INH MJD AFP EBL */ + t01 = vec_madd(t0, t1, vzero); /* AJ EN IB MF */ + t01 = vec_perm(t01, t01, _VECTORMATH_PERM_YXWZ); /* EN AJ MF IB */ + cof2 = vec_nmsub(t3, t01, cof2); /* cof2 - LEN PAJ DMF HIB */ + cof3 = vec_madd(t2r, t01, cof3); /* KEN OAJ CMF GIB + cof3 */ + t01r = vec_sld(t01, t01, 8); /* MF IB EN AJ */ + cof2 = vec_madd(t3, t01r, cof2); /* LMF PIB DEN HAJ + cof2 */ + cof3 = vec_nmsub(t2r, t01r, cof3); /* cof3 - KMF OIB CEN GAJ */ + t03 = vec_madd(t0, t3, vzero); /* AL EP ID MH */ + t03 = vec_perm(t03, t03, _VECTORMATH_PERM_YXWZ); /* EP AL MH ID */ + cof1 = vec_nmsub(t2r, t03, cof1); /* cof1 - KEP OAL CMH GID */ + cof2 = vec_madd(t1, t03, cof2); /* JEP NAL BMH FID + cof2 */ + t03r = vec_sld(t03, t03, 8); /* MH ID EP AL */ + cof1 = vec_madd(t2r, t03r, cof1); /* KMH OID CEP GAL + cof1 */ + cof2 = vec_nmsub(t1, t03r, cof2); /* cof2 - JMH NID BEP FAL */ + t02 = vec_madd(t0, t2r, vzero); /* AK EO IC MG */ + t02 = vec_perm(t02, t02, _VECTORMATH_PERM_YXWZ); /* E0 AK MG IC */ + cof1 = vec_madd(t3, t02, cof1); /* LEO PAK DMG HIC + cof1 */ + cof3 = vec_nmsub(t1, t02, cof3); /* cof3 - JEO NAK BMG FIC */ + t02r = vec_sld(t02, t02, 8); /* MG IC EO AK */ + cof1 = vec_nmsub(t3, t02r, cof1); /* cof1 - LMG PIC DEO HAK */ + cof3 = vec_madd(t1, t02r, cof3); /* JMG NIC BEO FAK + cof3 */ + /* Compute the determinant of the matrix + * + * det = sum_across(t0 * cof0); + * + * We perform a sum across the entire vector so that + * we don't have to splat the result when multiplying the + * cofactors by the inverse of the determinant. + */ + det = vec_madd(t0, cof0, vzero); + det0 = vec_splat(det, 0); + det1 = vec_splat(det, 1); + det2 = vec_splat(det, 2); + det3 = vec_splat(det, 3); + det = vec_add(det0, det1); + det2 = vec_add(det2, det3); + det = vec_add(det, det2); + /* Compute the reciprocal of the determinant. + */ + invdet = recipf4(det); + /* Multiply the cofactors by the reciprocal of the determinant. + */ + return Matrix4( + Vector4( vec_madd(cof0, invdet, vzero) ), + Vector4( vec_madd(cof1, invdet, vzero) ), + Vector4( vec_madd(cof2, invdet, vzero) ), + Vector4( vec_madd(cof3, invdet, vzero) ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline const floatInVec determinant( const Matrix4 & mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vector float in0, in1, in2, in3; + vector float tmp0, tmp1, tmp2, tmp3; + vector float cof0; + vector float t0, t1, t2, t3; + vector float t12, t23; + vector float t1r, t2r; + vector float t12r, t23r; + vector float t1r3, t1r3r; + vector float vzero = (vector float){0.0}; + in0 = mat.getCol0().get128(); + in1 = mat.getCol1().get128(); + in2 = mat.getCol2().get128(); + in3 = mat.getCol3().get128(); + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = vec_perm(in0, in1, _VECTORMATH_PERM_XAZC); /* A E C G */ + tmp1 = vec_perm(in2, in3, _VECTORMATH_PERM_XAZC); /* I M K O */ + tmp2 = vec_perm(in0, in1, _VECTORMATH_PERM_YBWD); /* B F D H */ + tmp3 = vec_perm(in2, in3, _VECTORMATH_PERM_YBWD); /* J N L P */ + t0 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_XYAB); /* A E I M */ + t1 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_XYAB); /* J N B F */ + t2 = vec_perm(tmp0, tmp1, _VECTORMATH_PERM_ZWCD); /* C G K O */ + t3 = vec_perm(tmp3, tmp2, _VECTORMATH_PERM_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = vec_madd(t2, t3, vzero); /* CL GP KD OH */ + t23 = vec_perm(t23, t23, _VECTORMATH_PERM_YXWZ); /* GP CL OH KD */ + cof0 = vec_nmsub(t1, t23, vzero); /* -(JGP NCL FOH BKD) */ + t23r = vec_sld(t23, t23, 8); /* OH KD GP CL */ + cof0 = vec_madd(t1, t23r, cof0); /* JOH NKD BGP FCL + cof0 */ + t12 = vec_madd(t1, t2, vzero); /* JC NG BK FO */ + t12 = vec_perm(t12, t12, _VECTORMATH_PERM_YXWZ); /* NG JC FO BK */ + cof0 = vec_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + t12r = vec_sld(t12, t12, 8); /* FO BK NG JC */ + cof0 = vec_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + t1r = vec_sld(t1, t1, 8); /* B F J N */ + t2r = vec_sld(t2, t2, 8); /* K O C G */ + t1r3 = vec_madd(t1r, t3, vzero); /* BL FP JD NH */ + t1r3 = vec_perm(t1r3, t1r3, _VECTORMATH_PERM_YXWZ); /* FP BL NH JD */ + cof0 = vec_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + t1r3r = vec_sld(t1r3, t1r3, 8); /* NH JD FP BL */ + cof0 = vec_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + return floatInVec( _vmathVfDot4(t0,cof0), 0 ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +inline const Matrix4 Matrix4::operator *( floatInVec scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +inline Matrix4 & Matrix4::operator *=( floatInVec scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return floatInVec(scalar) * mat; +} + +inline const Matrix4 operator *( floatInVec scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( Vector4 vec ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz, wwww; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + wwww = vec_splat( vec.get128(), 3 ); + tmp0 = vec_madd( mCol0.get128(), xxxx, zero ); + tmp1 = vec_madd( mCol1.get128(), yyyy, zero ); + tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = vec_madd( mCol3.get128(), wwww, tmp1 ); + res = vec_add( tmp0, tmp1 ); + return Vector4( res ); +} + +inline const Vector4 Matrix4::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mCol0.get128(), xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector4( res ); +} + +inline const Vector4 Matrix4::operator *( Point3 pnt ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( pnt.get128(), 0 ); + yyyy = vec_splat( pnt.get128(), 1 ); + zzzz = vec_splat( pnt.get128(), 2 ); + tmp0 = vec_madd( mCol0.get128(), xxxx, zero ); + tmp1 = vec_madd( mCol1.get128(), yyyy, zero ); + tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = vec_add( mCol3.get128(), tmp1 ); + res = vec_add( tmp0, tmp1 ); + return Vector4( res ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( Vector3 translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +inline const Matrix4 Matrix4::rotationX( floatInVec radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4::xAxis( ), + Vector4( res1 ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +inline const Matrix4 Matrix4::rotationY( floatInVec radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4( res0 ), + Vector4::yAxis( ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +inline const Matrix4 Matrix4::rotationZ( floatInVec radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + return Matrix4( + Vector4( vec_madd( Z0, Y0, zero ) ), + Vector4( vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ) ), + Vector4( vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, Vector3 unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +inline const Matrix4 Matrix4::rotation( floatInVec radians, Vector3 unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2, zeroW; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + axisS = vec_madd( axis, s, zero ); + negAxisS = negatef4( axisS ); + tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp0 = vec_sel( tmp0, c, _VECTORMATH_MASK_0xF000 ); + tmp1 = vec_sel( tmp1, c, _VECTORMATH_MASK_0x0F00 ); + tmp2 = vec_sel( tmp2, c, _VECTORMATH_MASK_0x00F0 ); + zeroW = (vec_float4)_VECTORMATH_MASK_0x000F; + axis = vec_andc( axis, zeroW ); + tmp0 = vec_andc( tmp0, zeroW ); + tmp1 = vec_andc( tmp1, zeroW ); + tmp2 = vec_andc( tmp2, zeroW ); + return Matrix4( + Vector4( vec_madd( vec_madd( axis, xxxx, zero ), oneMinusC, tmp0 ) ), + Vector4( vec_madd( vec_madd( axis, yyyy, zero ), oneMinusC, tmp1 ) ), + Vector4( vec_madd( vec_madd( axis, zzzz, zero ), oneMinusC, tmp2 ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( Quat unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( Vector3 scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + return Matrix4( + Vector4( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0xF000 ) ), + Vector4( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x0F00 ) ), + Vector4( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x00F0 ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, Vector3 scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( Vector3 scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( Vector3 translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( Point3 eyePos, Point3 lookAtPos, Vector3 upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + vec_float4 zero, col0, col1, col2, col3; + union { vec_float4 v; float s[4]; } tmp; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp.v = zero; + tmp.s[0] = f / aspect; + col0 = tmp.v; + tmp.v = zero; + tmp.s[1] = f; + col1 = tmp.v; + tmp.v = zero; + tmp.s[2] = ( zNear + zFar ) * rangeInv; + tmp.s[3] = -1.0f; + col2 = tmp.v; + tmp.v = zero; + tmp.s[2] = zNear * zFar * rangeInv * 2.0f; + col3 = tmp.v; + return Matrix4( + Vector4( col0 ), + Vector4( col1 ), + Vector4( col2 ), + Vector4( col3 ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff; + vec_float4 diagonal, column, near2; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + union { vec_float4 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = vec_splat( n.v, 0 ); + near2 = vec_add( near2, near2 ); + diagonal = vec_madd( near2, inv_diff, zero ); + column = vec_madd( sum, inv_diff, zero ); + return Matrix4( + Vector4( vec_sel( zero, diagonal, _VECTORMATH_MASK_0xF000 ) ), + Vector4( vec_sel( zero, diagonal, _VECTORMATH_MASK_0x0F00 ) ), + Vector4( vec_sel( column, ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}), _VECTORMATH_MASK_0x000F ) ), + Vector4( vec_sel( zero, vec_madd( diagonal, vec_splat( f.v, 0 ), zero ), _VECTORMATH_MASK_0x00F0 ) ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff, neg_inv_diff; + vec_float4 diagonal, column; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + union { vec_float4 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = vec_add( inv_diff, inv_diff ); + column = vec_madd( sum, vec_sel( neg_inv_diff, inv_diff, _VECTORMATH_MASK_0x00F0 ), zero ); + return Matrix4( + Vector4( vec_sel( zero, diagonal, _VECTORMATH_MASK_0xF000 ) ), + Vector4( vec_sel( zero, diagonal, _VECTORMATH_MASK_0x0F00 ) ), + Vector4( vec_sel( zero, diagonal, _VECTORMATH_MASK_0x00F0 ) ), + Vector4( vec_sel( column, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), _VECTORMATH_MASK_0x000F ) ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, boolInVec select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( floatInVec scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( Vector3 _col0, Vector3 _col1, Vector3 _col2, Vector3 _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, Vector3 translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( Quat unitQuat, Vector3 translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( Vector3 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( Vector3 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( Vector3 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( Vector3 _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, Vector3 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, Vector4 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, floatInVec val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline const floatInVec Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + tmp2 = _vmathVfCross( tfrm.getCol0().get128(), tfrm.getCol1().get128() ); + tmp0 = _vmathVfCross( tfrm.getCol1().get128(), tfrm.getCol2().get128() ); + tmp1 = _vmathVfCross( tfrm.getCol2().get128(), tfrm.getCol0().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + dot = _vmathVfDot3( tmp2, tfrm.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + xxxx = vec_splat( inv3, 0 ); + inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_madd( inv0, xxxx, zero ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + inv0 = vec_madd( inv0, invdet, zero ); + inv1 = vec_madd( inv1, invdet, zero ); + inv2 = vec_madd( inv2, invdet, zero ); + inv3 = vec_madd( inv3, invdet, zero ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1; + vec_float4 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + tmp1 = vec_mergel( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + inv0 = vec_mergeh( tmp0, tfrm.getCol1().get128() ); + xxxx = vec_splat( inv3, 0 ); + inv1 = vec_perm( tmp0, tfrm.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + inv2 = vec_perm( tmp1, tfrm.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_madd( inv0, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mCol0.get128(), xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +inline const Point3 Transform3::operator *( Point3 pnt ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + xxxx = vec_splat( pnt.get128(), 0 ); + yyyy = vec_splat( pnt.get128(), 1 ); + zzzz = vec_splat( pnt.get128(), 2 ); + tmp0 = vec_madd( mCol0.get128(), xxxx, zero ); + tmp1 = vec_madd( mCol1.get128(), yyyy, zero ); + tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = vec_add( mCol3.get128(), tmp1 ); + res = vec_add( tmp0, tmp1 ); + return Point3( res ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( Vector3 translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +inline const Transform3 Transform3::rotationX( floatInVec radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = _VECTORMATH_MASK_0x0F00; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +inline const Transform3 Transform3::rotationY( floatInVec radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_z = _VECTORMATH_MASK_0x00F0; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +inline const Transform3 Transform3::rotationZ( floatInVec radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = _VECTORMATH_MASK_0xF000; + select_y = _VECTORMATH_MASK_0x0F00; + zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Transform3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + Z1 = vec_andc( Z1, (vec_float4)_VECTORMATH_MASK_0x000F ); + Y0 = vec_perm( negS, c, _VECTORMATH_PERM_BBYX ); + Y1 = vec_perm( c, s, _VECTORMATH_PERM_BBYX ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_madd( Z0, Y1, zero ); + return Transform3( + Vector3( vec_madd( Z0, Y0, zero ) ), + Vector3( vec_madd( Z1, X1, vec_madd( tmp, X0, zero ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_madd( tmp, X1, zero ) ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, Vector3 unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +inline const Transform3 Transform3::rotation( floatInVec radians, Vector3 unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( Quat unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( Vector3 scaleVec ) +{ + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + return Transform3( + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0xF000 ) ), + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x0F00 ) ), + Vector3( vec_sel( zero, scaleVec.get128(), _VECTORMATH_MASK_0x00F0 ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, Vector3 scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( Vector3 scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( Vector3 translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, boolInVec select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + vec_float4 res; + vec_float4 col0, col1, col2; + vec_float4 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + vec_float4 zy_xz_yx, yz_zx_xy, sum, diff; + vec_float4 radicand, invSqrt, scale; + vec_float4 res0, res1, res2, res3; + vec_float4 xx, yy, zz; + vec_uint4 select_x = _VECTORMATH_MASK_0xF000; + vec_uint4 select_y = _VECTORMATH_MASK_0x0F00; + vec_uint4 select_z = _VECTORMATH_MASK_0x00F0; + vec_uint4 select_w = _VECTORMATH_MASK_0x000F; + vec_float4 zero = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); + + col0 = tfrm.getCol0().get128(); + col1 = tfrm.getCol1().get128(); + col2 = tfrm.getCol2().get128(); + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = vec_sel( col0, col1, select_y ); + xx_yy_zz_xx = vec_perm( xx_yy, col2, _VECTORMATH_PERM_XYCX ); + yy_zz_xx_yy = vec_perm( xx_yy, col2, _VECTORMATH_PERM_YCXY ); + zz_xx_yy_zz = vec_perm( xx_yy, col2, _VECTORMATH_PERM_CXYC ); + + diagSum = vec_add( vec_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = vec_sub( vec_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = vec_add( vec_sel( diagDiff, diagSum, select_w ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + invSqrt = rsqrtf4( radicand ); + + zy_xz_yx = vec_sel( col0, col1, select_z ); + zy_xz_yx = vec_perm( zy_xz_yx, col2, _VECTORMATH_PERM_ZAYX ); + yz_zx_xy = vec_sel( col0, col1, select_x ); + yz_zx_xy = vec_perm( yz_zx_xy, col2, _VECTORMATH_PERM_BZXX ); + + sum = vec_add( zy_xz_yx, yz_zx_xy ); + diff = vec_sub( zy_xz_yx, yz_zx_xy ); + + scale = vec_madd( invSqrt, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), zero ); + res0 = vec_perm( sum, diff, _VECTORMATH_PERM_XZYA ); + res1 = vec_perm( sum, diff, _VECTORMATH_PERM_ZXXB ); + res2 = vec_perm( sum, diff, _VECTORMATH_PERM_YXXC ); + res3 = diff; + res0 = vec_sel( res0, radicand, select_x ); + res1 = vec_sel( res1, radicand, select_y ); + res2 = vec_sel( res2, radicand, select_z ); + res3 = vec_sel( res3, radicand, select_w ); + res0 = vec_madd( res0, vec_splat( scale, 0 ), zero ); + res1 = vec_madd( res1, vec_splat( scale, 1 ), zero ); + res2 = vec_madd( res2, vec_splat( scale, 2 ), zero ); + res3 = vec_madd( res3, vec_splat( scale, 3 ), zero ); + + /* determine case and select answer */ + + xx = vec_splat( col0, 0 ); + yy = vec_splat( col1, 1 ); + zz = vec_splat( col2, 2 ); + res = vec_sel( res0, res1, vec_cmpgt( yy, xx ) ); + res = vec_sel( res, res2, vec_and( vec_cmpgt( zz, xx ), vec_cmpgt( zz, yy ) ) ); + res = vec_sel( res, res3, vec_cmpgt( vec_splat( diagSum, 0 ), zero ) ); + mVec128 = res; +} + +inline const Matrix3 outer( Vector3 tfrm0, Vector3 tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( Vector4 tfrm0, Vector4 tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( Vector3 vec, const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, mcol0, mcol1, mcol2, res; + vec_float4 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + xxxx = vec_splat( vec.get128(), 0 ); + mcol0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + mcol1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + mcol2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + yyyy = vec_splat( vec.get128(), 1 ); + res = vec_madd( mcol0, xxxx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mcol1, yyyy, res ); + res = vec_madd( mcol2, zzzz, res ); + return Vector3( res ); +} + +inline const Matrix3 crossMatrix( Vector3 vec ) +{ + vec_float4 neg, res0, res1, res2; + neg = negatef4( vec.get128() ); + res0 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_XZBX ); + res1 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_CXXX ); + res2 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_YAXX ); + res0 = vec_andc( res0, (vec_float4)_VECTORMATH_MASK_0xF000 ); + res1 = vec_andc( res1, (vec_float4)_VECTORMATH_MASK_0x0F00 ); + res2 = vec_andc( res2, (vec_float4)_VECTORMATH_MASK_0x00F0 ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 crossMatrixMul( Vector3 vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_soa.h new file mode 100644 index 000000000..7868cfd4b --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/mat_soa.h @@ -0,0 +1,1744 @@ +/* + 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_MAT_SOA_CPP_H +#define _VECTORMATH_MAT_SOA_CPP_H + +namespace Vectormath { +namespace Soa { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( vec_float4 scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + vec_float4 qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = vec_add( qx, qx ); + qy2 = vec_add( qy, qy ); + qz2 = vec_add( qz, qz ); + qxqx2 = vec_madd( qx, qx2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqy2 = vec_madd( qx, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqz2 = vec_madd( qx, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qxqw2 = vec_madd( qw, qx2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqy2 = vec_madd( qy, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqz2 = vec_madd( qy, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qyqw2 = vec_madd( qw, qy2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qzqz2 = vec_madd( qz, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qzqw2 = vec_madd( qw, qz2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol0 = Vector3( vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qyqy2 ), qzqz2 ), vec_add( qxqy2, qzqw2 ), vec_sub( qxqz2, qyqw2 ) ); + mCol1 = Vector3( vec_sub( qxqy2, qzqw2 ), vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qxqx2 ), qzqz2 ), vec_add( qyqz2, qxqw2 ) ); + mCol2 = Vector3( vec_add( qxqz2, qyqw2 ), vec_sub( qyqz2, qxqw2 ), vec_sub( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), qxqx2 ), qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3::Matrix3( const Aos::Matrix3 & mat ) +{ + mCol0 = Vector3( mat.getCol0() ); + mCol1 = Vector3( mat.getCol1() ); + mCol2 = Vector3( mat.getCol2() ); +} + +inline Matrix3::Matrix3( const Aos::Matrix3 & mat0, const Aos::Matrix3 & mat1, const Aos::Matrix3 & mat2, const Aos::Matrix3 & mat3 ) +{ + mCol0 = Vector3( mat0.getCol0(), mat1.getCol0(), mat2.getCol0(), mat3.getCol0() ); + mCol1 = Vector3( mat0.getCol1(), mat1.getCol1(), mat2.getCol1(), mat3.getCol1() ); + mCol2 = Vector3( mat0.getCol2(), mat1.getCol2(), mat2.getCol2(), mat3.getCol2() ); +} + +inline void Matrix3::get4Aos( Aos::Matrix3 & result0, Aos::Matrix3 & result1, Aos::Matrix3 & result2, Aos::Matrix3 & result3 ) const +{ + Aos::Vector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + mCol0.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol0( tmpV3_0 ); + result1.setCol0( tmpV3_1 ); + result2.setCol0( tmpV3_2 ); + result3.setCol0( tmpV3_3 ); + mCol1.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol1( tmpV3_0 ); + result1.setCol1( tmpV3_1 ); + result2.setCol1( tmpV3_2 ); + result3.setCol1( tmpV3_3 ); + mCol2.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol2( tmpV3_0 ); + result1.setCol2( tmpV3_1 ); + result2.setCol2( tmpV3_2 ); + result3.setCol2( tmpV3_3 ); +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, vec_float4 val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + vec_float4 detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( vec_madd( tmp0.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + Vector3( vec_madd( tmp0.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + Vector3( vec_madd( tmp0.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline vec_float4 determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( vec_float4 scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( vec_float4 scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + vec_add( vec_add( vec_madd( mCol0.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getY(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getZ(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3::xAxis( ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3( c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ) ), + Vector3::yAxis( ), + Vector3( s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3( c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + return Matrix3( + Vector3( vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ) ), + Vector3( vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + Vector3( vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = vec_madd( x, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + yz = vec_madd( y, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zx = vec_madd( z, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + return Matrix3( + Vector3( vec_add( vec_madd( vec_madd( x, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ), + Vector3( vec_sub( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( y, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ), + Vector3( vec_add( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( z, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, vec_uint4 select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + Aos::Matrix3 mat0, mat1, mat2, mat3; + mat.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( vec_float4 scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol1 = Vector4( mat.getCol1(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol2 = Vector4( mat.getCol2(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol3 = Vector4( mat.getCol3(), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol1 = Vector4( mat.getCol1(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol2 = Vector4( mat.getCol2(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol3 = Vector4( translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol1 = Vector4( mat.getCol1(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol2 = Vector4( mat.getCol2(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + mCol3 = Vector4( translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +inline Matrix4::Matrix4( const Aos::Matrix4 & mat ) +{ + mCol0 = Vector4( mat.getCol0() ); + mCol1 = Vector4( mat.getCol1() ); + mCol2 = Vector4( mat.getCol2() ); + mCol3 = Vector4( mat.getCol3() ); +} + +inline Matrix4::Matrix4( const Aos::Matrix4 & mat0, const Aos::Matrix4 & mat1, const Aos::Matrix4 & mat2, const Aos::Matrix4 & mat3 ) +{ + mCol0 = Vector4( mat0.getCol0(), mat1.getCol0(), mat2.getCol0(), mat3.getCol0() ); + mCol1 = Vector4( mat0.getCol1(), mat1.getCol1(), mat2.getCol1(), mat3.getCol1() ); + mCol2 = Vector4( mat0.getCol2(), mat1.getCol2(), mat2.getCol2(), mat3.getCol2() ); + mCol3 = Vector4( mat0.getCol3(), mat1.getCol3(), mat2.getCol3(), mat3.getCol3() ); +} + +inline void Matrix4::get4Aos( Aos::Matrix4 & result0, Aos::Matrix4 & result1, Aos::Matrix4 & result2, Aos::Matrix4 & result3 ) const +{ + Aos::Vector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + mCol0.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol0( tmpV4_0 ); + result1.setCol0( tmpV4_1 ); + result2.setCol0( tmpV4_2 ); + result3.setCol0( tmpV4_3 ); + mCol1.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol1( tmpV4_0 ); + result1.setCol1( tmpV4_1 ); + result2.setCol1( tmpV4_2 ); + result3.setCol1( tmpV4_3 ); + mCol2.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol2( tmpV4_0 ); + result1.setCol2( tmpV4_1 ); + result2.setCol2( tmpV4_2 ); + result3.setCol2( tmpV4_3 ); + mCol3.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol3( tmpV4_0 ); + result1.setCol3( tmpV4_1 ); + result2.setCol3( tmpV4_2 ); + result3.setCol3( tmpV4_3 ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, vec_float4 val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + vec_float4 mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = vec_sub( vec_madd( mK, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mO, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mB, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mF, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mJ, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mN, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res0.setX( vec_sub( vec_sub( vec_madd( mJ, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mK, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + res0.setY( vec_sub( vec_sub( vec_madd( mN, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mO, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + res0.setZ( vec_sub( vec_add( vec_madd( mD, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mB, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + res0.setW( vec_sub( vec_add( vec_madd( mH, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mF, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + detInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_add( vec_add( vec_add( vec_madd( mA, res0.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, res0.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mI, res0.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mM, res0.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + res1.setX( vec_madd( mI, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res1.setY( vec_madd( mM, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res1.setZ( vec_madd( mA, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res1.setW( vec_madd( mE, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res3.setX( vec_madd( mI, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res3.setY( vec_madd( mM, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res3.setZ( vec_madd( mA, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res3.setW( vec_madd( mE, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res2.setX( vec_madd( mI, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res2.setY( vec_madd( mM, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res2.setZ( vec_madd( mA, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res2.setW( vec_madd( mE, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp0 = vec_sub( vec_madd( mI, mB, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mJ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mM, mF, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mN, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mI, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mM, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mI, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mA, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mM, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + res2.setX( vec_add( vec_sub( vec_madd( mL, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.getX() ) ); + res2.setY( vec_add( vec_sub( vec_madd( mP, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.getY() ) ); + res2.setZ( vec_sub( vec_sub( vec_madd( mB, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mD, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.getZ() ) ); + res2.setW( vec_sub( vec_sub( vec_madd( mF, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mH, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res2.getW() ) ); + res3.setX( vec_add( vec_sub( vec_madd( mJ, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mK, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.getX() ) ); + res3.setY( vec_add( vec_sub( vec_madd( mN, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mO, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.getY() ) ); + res3.setZ( vec_sub( vec_sub( vec_madd( mC, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.getZ() ) ); + res3.setW( vec_sub( vec_sub( vec_madd( mG, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res3.getW() ) ); + res1.setX( vec_sub( vec_sub( vec_madd( mK, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.getX() ) ); + res1.setY( vec_sub( vec_sub( vec_madd( mO, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.getY() ) ); + res1.setZ( vec_add( vec_sub( vec_madd( mD, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.getZ() ) ); + res1.setW( vec_add( vec_sub( vec_madd( mH, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline vec_float4 determinant( const Matrix4 & mat ) +{ + vec_float4 dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = vec_sub( vec_madd( mK, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp1 = vec_sub( vec_madd( mO, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp2 = vec_sub( vec_madd( mB, mK, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mJ, mC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp3 = vec_sub( vec_madd( mF, mO, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mN, mG, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp4 = vec_sub( vec_madd( mJ, mD, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mB, mL, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmp5 = vec_sub( vec_madd( mN, mH, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mF, mP, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dx = vec_sub( vec_sub( vec_madd( mJ, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mL, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mK, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dy = vec_sub( vec_sub( vec_madd( mN, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mP, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mO, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dz = vec_sub( vec_add( vec_madd( mD, tmp3, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mC, tmp5, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mB, tmp1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + dw = vec_sub( vec_add( vec_madd( mH, tmp2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mG, tmp4, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mF, tmp0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return vec_add( vec_add( vec_add( vec_madd( mA, dx, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mE, dy, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mI, dz, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mM, dw, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( vec_float4 scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( vec_float4 scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + vec_add( vec_add( vec_add( vec_madd( mCol0.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol3.getX(), vec.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getY(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol3.getY(), vec.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getZ(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol3.getZ(), vec.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getW(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getW(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getW(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol3.getW(), vec.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + vec_add( vec_add( vec_madd( mCol0.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getY(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getZ(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getW(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getW(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getW(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + vec_add( vec_add( vec_add( vec_madd( mCol0.getX(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getX() ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getY(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getY() ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getZ(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getZ() ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getW(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getW(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getW(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4::xAxis( ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4( c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::yAxis( ), + Vector4( s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4( c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + return Matrix4( + Vector4( vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = vec_madd( x, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + yz = vec_madd( y, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + zx = vec_madd( z, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + oneMinusC = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), c ); + return Matrix4( + Vector4( vec_add( vec_madd( vec_madd( x, x, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_sub( vec_madd( xy, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( z, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( y, y, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), vec_add( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_add( vec_madd( zx, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( y, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( yz, oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( x, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( vec_madd( z, z, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), oneMinusC, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 f, rangeInv; + f = tanf4( vec_sub( ((vec_float4){_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2,_VECTORMATH_PI_OVER_2}), vec_madd( ((vec_float4){0.5f,0.5f,0.5f,0.5f}), fovyRadians, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); + rangeInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + return Matrix4( + Vector4( divf4( f, aspect ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), f, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_add( zNear, zFar ), rangeInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_madd( vec_madd( zNear, zFar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), rangeInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){2.0f,2.0f,2.0f,2.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Matrix4 Matrix4::frustum( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = vec_add( right, left ); + sum_tb = vec_add( top, bottom ); + sum_nf = vec_add( zNear, zFar ); + inv_rl = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( right, left ) ); + inv_tb = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( top, bottom ) ); + inv_nf = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + n2 = vec_add( zNear, zNear ); + return Matrix4( + Vector4( vec_madd( n2, inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( n2, inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_madd( sum_rl, inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_tb, inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_nf, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){-1.0f,-1.0f,-1.0f,-1.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_madd( vec_madd( n2, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), zFar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Matrix4 Matrix4::orthographic( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = vec_add( right, left ); + sum_tb = vec_add( top, bottom ); + sum_nf = vec_add( zNear, zFar ); + inv_rl = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( right, left ) ); + inv_tb = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( top, bottom ) ); + inv_nf = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec_sub( zNear, zFar ) ); + return Matrix4( + Vector4( vec_add( inv_rl, inv_rl ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_add( inv_tb, inv_tb ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec_add( inv_nf, inv_nf ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector4( vec_madd( negatef4( sum_rl ), inv_rl, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( negatef4( sum_tb ), inv_tb, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sum_nf, inv_nf, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, vec_uint4 select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + Aos::Matrix4 mat0, mat1, mat2, mat3; + mat.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( vec_float4 scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Aos::Transform3 & tfrm ) +{ + mCol0 = Vector3( tfrm.getCol0() ); + mCol1 = Vector3( tfrm.getCol1() ); + mCol2 = Vector3( tfrm.getCol2() ); + mCol3 = Vector3( tfrm.getCol3() ); +} + +inline Transform3::Transform3( const Aos::Transform3 & tfrm0, const Aos::Transform3 & tfrm1, const Aos::Transform3 & tfrm2, const Aos::Transform3 & tfrm3 ) +{ + mCol0 = Vector3( tfrm0.getCol0(), tfrm1.getCol0(), tfrm2.getCol0(), tfrm3.getCol0() ); + mCol1 = Vector3( tfrm0.getCol1(), tfrm1.getCol1(), tfrm2.getCol1(), tfrm3.getCol1() ); + mCol2 = Vector3( tfrm0.getCol2(), tfrm1.getCol2(), tfrm2.getCol2(), tfrm3.getCol2() ); + mCol3 = Vector3( tfrm0.getCol3(), tfrm1.getCol3(), tfrm2.getCol3(), tfrm3.getCol3() ); +} + +inline void Transform3::get4Aos( Aos::Transform3 & result0, Aos::Transform3 & result1, Aos::Transform3 & result2, Aos::Transform3 & result3 ) const +{ + Aos::Vector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + mCol0.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol0( tmpV3_0 ); + result1.setCol0( tmpV3_1 ); + result2.setCol0( tmpV3_2 ); + result3.setCol0( tmpV3_3 ); + mCol1.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol1( tmpV3_0 ); + result1.setCol1( tmpV3_1 ); + result2.setCol1( tmpV3_2 ); + result3.setCol1( tmpV3_3 ); + mCol2.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol2( tmpV3_0 ); + result1.setCol2( tmpV3_1 ); + result2.setCol2( tmpV3_2 ); + result3.setCol2( tmpV3_3 ); + mCol3.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol3( tmpV3_0 ); + result1.setCol3( tmpV3_1 ); + result2.setCol3( tmpV3_2 ); + result3.setCol3( tmpV3_3 ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, vec_float4 val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + vec_float4 detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( vec_madd( tmp0.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getX(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + inv1 = Vector3( vec_madd( tmp0.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getY(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + inv2 = Vector3( vec_madd( tmp0.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp1.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmp2.getZ(), detinv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + vec_add( vec_add( vec_madd( mCol0.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getY(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( mCol0.getZ(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + vec_add( vec_add( vec_add( vec_madd( mCol0.getX(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getX(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getX(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getX() ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getY(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getY(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getY(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getY() ), + vec_add( vec_add( vec_add( vec_madd( mCol0.getZ(), pnt.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mCol1.getZ(), pnt.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mCol2.getZ(), pnt.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3::xAxis( ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c, s ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ), c ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Transform3 Transform3::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3( c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), negatef4( s ) ), + Vector3::yAxis( ), + Vector3( s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Transform3 Transform3::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3( c, s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( negatef4( s ), c, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3::zAxis( ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = vec_madd( cZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmp1 = vec_madd( sZ, sY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + return Transform3( + Vector3( vec_madd( cZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), negatef4( sY ) ), + Vector3( vec_sub( vec_madd( tmp0, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_add( vec_madd( tmp1, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + Vector3( vec_add( vec_madd( tmp0, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( sZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_sub( vec_madd( tmp1, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( cZ, sX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( cY, cX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Transform3 Transform3::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), scaleVec.getZ() ), + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, vec_uint4 select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + Aos::Transform3 mat0, mat1, mat2, mat3; + tfrm.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + vec_float4 trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + vec_uint4 negTrace, ZgtX, ZgtY, YgtX; + vec_uint4 largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = vec_add( vec_add( xx, yy ), zz ); + + negTrace = (vec_uint4)vec_cmpgt( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), trace ); + ZgtX = (vec_uint4)vec_cmpgt( zz, xx ); + ZgtY = (vec_uint4)vec_cmpgt( zz, yy ); + YgtX = (vec_uint4)vec_cmpgt( yy, xx ); + largestXorY = vec_andc( negTrace, vec_and( ZgtX, ZgtY ) ); + largestYorZ = vec_and( negTrace, vec_or( YgtX, ZgtX ) ); + largestZorX = vec_andc( negTrace, vec_andc( YgtX, ZgtY ) ); + + zz = vec_sel( zz, negatef4(zz), largestXorY ); + xy = vec_sel( xy, negatef4(xy), largestXorY ); + xx = vec_sel( xx, negatef4(xx), largestYorZ ); + yz = vec_sel( yz, negatef4(yz), largestYorZ ); + yy = vec_sel( yy, negatef4(yy), largestZorX ); + zx = vec_sel( zx, negatef4(zx), largestZorX ); + + radicand = vec_add( vec_add( vec_add( xx, yy ), zz ), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); + scale = vec_madd( ((vec_float4){0.5f,0.5f,0.5f,0.5f}), divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( radicand ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + + tmpx = vec_madd( vec_sub( zy, yz ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpy = vec_madd( vec_sub( xz, zx ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpz = vec_madd( vec_sub( yx, xy ), scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + tmpw = vec_madd( radicand, scale, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + qx = vec_sel( qx, tmpw, largestXorY ); + qy = vec_sel( qy, tmpz, largestXorY ); + qz = vec_sel( qz, tmpy, largestXorY ); + qw = vec_sel( qw, tmpx, largestXorY ); + tmpx = qx; + tmpz = qz; + qx = vec_sel( qx, qy, largestYorZ ); + qy = vec_sel( qy, tmpx, largestYorZ ); + qz = vec_sel( qz, qw, largestYorZ ); + qw = vec_sel( qw, tmpz, largestYorZ ); + + mX = qx; + mY = qy; + mZ = qz; + mW = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + vec_add( vec_add( vec_madd( vec.getX(), mat.getCol0().getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec.getY(), mat.getCol0().getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec.getZ(), mat.getCol0().getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( vec.getX(), mat.getCol1().getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec.getY(), mat.getCol1().getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec.getZ(), mat.getCol1().getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_add( vec_madd( vec.getX(), mat.getCol2().getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec.getY(), mat.getCol2().getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( vec.getZ(), mat.getCol2().getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec.getZ(), negatef4( vec.getY() ) ), + Vector3( negatef4( vec.getZ() ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), vec.getX() ), + Vector3( vec.getY(), negatef4( vec.getX() ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Soa +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_aos.h new file mode 100644 index 000000000..196a48d98 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_aos.h @@ -0,0 +1,536 @@ +/* + 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 ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & + __builtin_constant_p(_z) & __builtin_constant_p(_w)) { + mVec128 = (vec_float4){_x, _y, _z, _w}; + } else { + float *pf = (float *)&mVec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + pf[3] = _w; + } +} + +inline Quat::Quat( floatInVec _x, floatInVec _y, floatInVec _z, floatInVec _w ) +{ + vec_float4 xz = vec_mergeh( _x.get128(), _z.get128() ); + vec_float4 yw = vec_mergeh( _y.get128(), _w.get128() ); + mVec128 = vec_mergeh( xz, yw ); +} + +inline Quat::Quat( Vector3 xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + +inline Quat::Quat( Vector3 xyz, floatInVec _w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +inline Quat::Quat( Vector4 vec ) +{ + mVec128 = vec.get128(); +} + +inline Quat::Quat( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +inline Quat::Quat( floatInVec scalar ) +{ + mVec128 = scalar.get128(); +} + +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 lerp( floatInVec(t), quat0, quat1 ); +} + +inline const Quat lerp( floatInVec t, Quat quat0, Quat quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 ) +{ + return slerp( floatInVec(t), unitQuat0, unitQuat1 ); +} + +inline const Quat slerp( floatInVec t, Quat unitQuat0, Quat unitQuat1 ) +{ + Quat start; + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Quat( vec_madd( start.get128(), scale0, vec_madd( unitQuat1.get128(), scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); +} + +inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 ) +{ + return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 ); +} + +inline const Quat squad( floatInVec t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 ) +{ + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(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 = vec_sel( vec.get128(), mVec128, _VECTORMATH_MASK_0x000F ); + return *this; +} + +inline const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +inline Quat & Quat::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +inline Quat & Quat::setX( floatInVec _x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +inline const floatInVec Quat::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +inline Quat & Quat::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +inline Quat & Quat::setY( floatInVec _y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +inline const floatInVec Quat::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +inline Quat & Quat::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +inline Quat & Quat::setZ( floatInVec _z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +inline const floatInVec Quat::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +inline Quat & Quat::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +inline Quat & Quat::setW( floatInVec _w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +inline const floatInVec Quat::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +inline Quat & Quat::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +inline Quat & Quat::setElem( int idx, floatInVec value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +inline const floatInVec Quat::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline VecIdx Quat::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline const floatInVec Quat::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline const Quat Quat::operator +( Quat quat ) const +{ + return Quat( vec_add( mVec128, quat.mVec128 ) ); +} + +inline const Quat Quat::operator -( Quat quat ) const +{ + return Quat( vec_sub( mVec128, quat.mVec128 ) ); +} + +inline const Quat Quat::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +inline const Quat Quat::operator *( floatInVec scalar ) const +{ + return Quat( vec_madd( mVec128, scalar.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +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 Quat & Quat::operator *=( floatInVec scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Quat Quat::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +inline const Quat Quat::operator /( floatInVec scalar ) const +{ + return Quat( divf4( mVec128, scalar.get128() ) ); +} + +inline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline Quat & Quat::operator /=( floatInVec 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 floatInVec(scalar) * quat; +} + +inline const Quat operator *( floatInVec scalar, Quat quat ) +{ + return quat * scalar; +} + +inline const floatInVec dot( Quat quat0, Quat quat1 ) +{ + return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 ); +} + +inline const floatInVec norm( Quat quat ) +{ + return floatInVec( _vmathVfDot4( quat.get128(), quat.get128() ), 0 ); +} + +inline const floatInVec length( Quat quat ) +{ + return floatInVec( sqrtf4(_vmathVfDot4( quat.get128(), quat.get128() )), 0 ); +} + +inline const Quat normalize( Quat quat ) +{ + vec_float4 dot = _vmathVfDot4( quat.get128(), quat.get128() ); + return Quat( vec_madd( quat.get128(), rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +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 = vec_splat( cosAngle, 0 ); + cosAngleX2Plus2 = vec_madd( cosAngle, ((vec_float4){2.0f,2.0f,2.0f,2.0f}), ((vec_float4){2.0f,2.0f,2.0f,2.0f}) ); + recipCosHalfAngleX2 = rsqrtf4( cosAngleX2Plus2 ); + cosHalfAngleX2 = vec_madd( recipCosHalfAngleX2, cosAngleX2Plus2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + crossVec = cross( unitVec0, unitVec1 ); + res = vec_madd( crossVec.get128(), recipCosHalfAngleX2, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_sel( res, vec_madd( cosHalfAngleX2, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), _VECTORMATH_MASK_0x000F ); + return Quat( res ); +} + +inline const Quat Quat::rotation( float radians, Vector3 unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +inline const Quat Quat::rotation( floatInVec radians, Vector3 unitVec ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( radians.get128(), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( vec_madd( unitVec.get128(), s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), c, _VECTORMATH_MASK_0x000F ); + return Quat( res ); +} + +inline const Quat Quat::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +inline const Quat Quat::rotationX( floatInVec radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( radians.get128(), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0xF000 ); + res = vec_sel( res, c, _VECTORMATH_MASK_0x000F ); + return Quat( res ); +} + +inline const Quat Quat::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +inline const Quat Quat::rotationY( floatInVec radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( radians.get128(), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0x0F00 ); + res = vec_sel( res, c, _VECTORMATH_MASK_0x000F ); + return Quat( res ); +} + +inline const Quat Quat::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +inline const Quat Quat::rotationZ( floatInVec radians ) +{ + vec_float4 s, c, angle, res; + angle = vec_madd( radians.get128(), ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + res = vec_sel( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, _VECTORMATH_MASK_0x00F0 ); + res = vec_sel( res, c, _VECTORMATH_MASK_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; + tmp0 = vec_perm( ldata, ldata, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( rdata, rdata, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( ldata, ldata, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( rdata, rdata, _VECTORMATH_PERM_YZXW ); + qv = vec_madd( vec_splat( ldata, 3 ), rdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_madd( ldata, rdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + l_wxyz = vec_sld( ldata, ldata, 12 ); + r_wxyz = vec_sld( rdata, rdata, 12 ); + qw = vec_nmsub( l_wxyz, r_wxyz, product ); + xy = vec_madd( l_wxyz, r_wxyz, product ); + qw = vec_sub( qw, vec_sld( xy, xy, 8 ) ); + return Quat( vec_sel( qv, qw, _VECTORMATH_MASK_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(); + tmp0 = vec_perm( qdata, qdata, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( vdata, vdata, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( qdata, qdata, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( vdata, vdata, _VECTORMATH_PERM_YZXW ); + wwww = vec_splat( qdata, 3 ); + qv = vec_madd( wwww, vdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_madd( qdata, vdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product ); + qw = vec_add( vec_sld( product, product, 8 ), qw ); + tmp1 = vec_perm( qv, qv, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( qv, qv, _VECTORMATH_PERM_YZXW ); + res = vec_madd( vec_splat( qw, 0 ), qdata, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + res = vec_madd( wwww, qv, res ); + res = vec_madd( tmp0, tmp1, res ); + res = vec_nmsub( tmp2, tmp3, res ); + return Vector3( res ); +} + +inline const Quat conj( Quat quat ) +{ + return Quat( vec_xor( quat.get128(), ((vec_float4)(vec_int4){0x80000000,0x80000000,0x80000000,0}) ) ); +} + +inline const Quat select( Quat quat0, Quat quat1, bool select1 ) +{ + return select( quat0, quat1, boolInVec(select1) ); +} + +inline const Quat select( Quat quat0, Quat quat1, boolInVec select1 ) +{ + return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) ); +} + +#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 diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_soa.h new file mode 100644 index 000000000..fb83e8121 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/quat_soa.h @@ -0,0 +1,479 @@ +/* + 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_float4 vec128 = quat.get128(); + mX = vec_splat( vec128, 0 ); + mY = vec_splat( vec128, 1 ); + mZ = vec_splat( vec128, 2 ); + mW = vec_splat( vec128, 3 ); +} + +inline Quat::Quat( Aos::Quat quat0, Aos::Quat quat1, Aos::Quat quat2, Aos::Quat quat3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( quat0.get128(), quat2.get128() ); + tmp1 = vec_mergeh( quat1.get128(), quat3.get128() ); + tmp2 = vec_mergel( quat0.get128(), quat2.get128() ); + tmp3 = vec_mergel( quat1.get128(), quat3.get128() ); + mX = vec_mergeh( tmp0, tmp1 ); + mY = vec_mergel( tmp0, tmp1 ); + mZ = vec_mergeh( tmp2, tmp3 ); + mW = vec_mergel( tmp2, tmp3 ); +} + +inline const Quat Quat::identity( ) +{ + return Quat( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,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)vec_cmpgt( (vec_float4){0.0f,0.0f,0.0f,0.0f}, cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + start.setX( vec_sel( unitQuat0.getX(), negatef4( unitQuat0.getX() ), selectMask ) ); + start.setY( vec_sel( unitQuat0.getY(), negatef4( unitQuat0.getY() ), selectMask ) ); + start.setZ( vec_sel( unitQuat0.getZ(), negatef4( unitQuat0.getZ() ), selectMask ) ); + start.setW( vec_sel( unitQuat0.getW(), negatef4( unitQuat0.getW() ), selectMask ) ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), 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( vec_madd( vec_madd( ((vec_float4){2.0f,2.0f,2.0f,2.0f}), t, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), 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 = vec_mergeh( mX, mZ ); + tmp1 = vec_mergeh( mY, mW ); + tmp2 = vec_mergel( mX, mZ ); + tmp3 = vec_mergel( mY, mW ); + result0 = Aos::Quat( vec_mergeh( tmp0, tmp1 ) ); + result1 = Aos::Quat( vec_mergel( tmp0, tmp1 ) ); + result2 = Aos::Quat( vec_mergeh( tmp2, tmp3 ) ); + result3 = Aos::Quat( vec_mergel( tmp2, tmp3 ) ); +} + +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( + vec_add( mX, quat.mX ), + vec_add( mY, quat.mY ), + vec_add( mZ, quat.mZ ), + vec_add( mW, quat.mW ) + ); +} + +inline const Quat Quat::operator -( const Quat & quat ) const +{ + return Quat( + vec_sub( mX, quat.mX ), + vec_sub( mY, quat.mY ), + vec_sub( mZ, quat.mZ ), + vec_sub( mW, quat.mW ) + ); +} + +inline const Quat Quat::operator *( vec_float4 scalar ) const +{ + return Quat( + vec_madd( mX, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mY, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mZ, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mW, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +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 = vec_madd( quat0.getX(), quat1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( quat0.getY(), quat1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat0.getZ(), quat1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat0.getW(), quat1.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 norm( const Quat & quat ) +{ + vec_float4 result; + result = vec_madd( quat.getX(), quat.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( quat.getY(), quat.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat.getZ(), quat.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( quat.getW(), quat.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + 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 = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + return Quat( + vec_madd( quat.getX(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( quat.getY(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( quat.getZ(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( quat.getW(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + vec_float4 cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf4( vec_madd( ((vec_float4){2.0f,2.0f,2.0f,2.0f}), vec_add( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), dot( unitVec0, unitVec1 ) ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + recipCosHalfAngleX2 = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), vec_madd( cosHalfAngleX2, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Quat Quat::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + return Quat( ( unitVec * s ), c ); +} + +inline const Quat Quat::rotationX( vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + return Quat( s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); +} + +inline const Quat Quat::rotationY( vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + return Quat( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), c ); +} + +inline const Quat Quat::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = vec_madd( radians, ((vec_float4){0.5f,0.5f,0.5f,0.5f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sincosf4( angle, &s, &c ); + return Quat( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), s, c ); +} + +inline const Quat Quat::operator *( const Quat & quat ) const +{ + return Quat( + vec_sub( vec_add( vec_add( vec_madd( mW, quat.mX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mX, quat.mW, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mY, quat.mZ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mZ, quat.mY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_sub( vec_add( vec_add( vec_madd( mW, quat.mY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mY, quat.mW, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mZ, quat.mX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mX, quat.mZ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_sub( vec_add( vec_add( vec_madd( mW, quat.mZ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mZ, quat.mW, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mX, quat.mY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mY, quat.mX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_sub( vec_sub( vec_sub( vec_madd( mW, quat.mW, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( mX, quat.mX, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mY, quat.mY, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( mZ, quat.mZ, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +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 = vec_sub( vec_add( vec_madd( quat.getW(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat.getY(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat.getZ(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpY = vec_sub( vec_add( vec_madd( quat.getW(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat.getZ(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat.getX(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpZ = vec_sub( vec_add( vec_madd( quat.getW(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat.getX(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat.getY(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + tmpW = vec_add( vec_add( vec_madd( quat.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( quat.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( quat.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return Vector3( + vec_add( vec_sub( vec_add( vec_madd( tmpW, quat.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpX, quat.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpY, quat.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpZ, quat.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_sub( vec_add( vec_madd( tmpW, quat.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpY, quat.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpZ, quat.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpX, quat.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_add( vec_sub( vec_add( vec_madd( tmpW, quat.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( tmpZ, quat.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpX, quat.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), vec_madd( tmpY, quat.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +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( + vec_sel( quat0.getX(), quat1.getX(), select1 ), + vec_sel( quat0.getY(), quat1.getY(), select1 ), + vec_sel( quat0.getZ(), quat1.getZ(), select1 ), + vec_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 diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_aos.h new file mode 100644 index 000000000..dc1f9849b --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_aos.h @@ -0,0 +1,1492 @@ +/* + 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_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H +//----------------------------------------------------------------------------- +// Constants +// for permutes words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A } +#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B } +#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C } +#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W } +#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 } +#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 } +#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 } +#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +static inline vec_float4 _vmathVfDot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0, vec1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_madd( vec_sld( vec0, vec0, 4 ), vec_sld( vec1, vec1, 4 ), result ); + return vec_madd( vec_sld( vec0, vec0, 8 ), vec_sld( vec1, vec1, 8 ), result ); +} + +static inline vec_float4 _vmathVfDot4( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0, vec1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_madd( vec_sld( vec0, vec0, 4 ), vec_sld( vec1, vec1, 4 ), result ); + return vec_add( vec_sld( result, result, 8 ), result ); +} + +static inline vec_float4 _vmathVfCross( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = vec_perm( vec0, vec0, _VECTORMATH_PERM_YZXW ); + tmp1 = vec_perm( vec1, vec1, _VECTORMATH_PERM_ZXYW ); + tmp2 = vec_perm( vec0, vec0, _VECTORMATH_PERM_ZXYW ); + tmp3 = vec_perm( vec1, vec1, _VECTORMATH_PERM_YZXW ); + result = vec_madd( tmp0, tmp1, (vec_float4){0.0f,0.0f,0.0f,0.0f} ); + result = vec_nmsub( tmp2, tmp3, result ); + return result; +} + +static inline vec_uint4 _vmathVfToHalfFloatsUnpacked(vec_float4 v) +{ + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = (vec_uint4){0x00007c00u,0x00007c00u,0x00007c00u,0x00007c00u}; + const vec_uint4 mergeMant = (vec_uint4){0x000003ffu,0x000003ffu,0x000003ffu,0x000003ffu}; + const vec_uint4 mergeSign = (vec_uint4){0x00008000u,0x00008000u,0x00008000u,0x00008000u}; + + sign = vec_sr((vec_uint4)v, (vec_uint4){16,16,16,16}); + mant = vec_sr((vec_uint4)v, (vec_uint4){13,13,13,13}); + bexp = vec_and(vec_sr((vec_int4)v, (vec_uint4){23,23,23,23}), (vec_int4){0xff,0xff,0xff,0xff}); + + notZero = (vec_uint4)vec_cmpgt(bexp, (vec_int4){112,112,112,112}); + isInf = (vec_uint4)vec_cmpgt(bexp, (vec_int4){142,142,142,142}); + + bexp = vec_add(bexp, (vec_int4){-112,-112,-112,-112}); + bexp = vec_sl(bexp, (vec_uint4){10,10,10,10}); + + hfloat = vec_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = vec_sel((vec_uint4){0,0,0,0}, hfloat, notZero); + hfloat = vec_sel(hfloat, hfloatInf, isInf); + hfloat = vec_sel(hfloat, sign, mergeSign); + + return hfloat; +} + +static inline vec_ushort8 _vmath2VfToHalfFloats(vec_float4 u, vec_float4 v) +{ + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)vec_perm(hfloat_u, hfloat_v, pack); +} + +#ifndef __GNUC__ +#define __builtin_constant_p(x) 0 +#endif + +static inline vec_float4 _vmathVfInsert(vec_float4 dst, vec_float4 src, int slot) +{ +#ifdef __GNUC__ + if (__builtin_constant_p(slot)) { + dst = vec_sld(dst, dst, slot<<2); + dst = vec_sld(dst, src, 4); + if (slot != 3) dst = vec_sld(dst, dst, (3-slot)<<2); + return dst; + } else +#endif + { + vec_uchar16 shiftpattern = vec_lvsr( 0, (float *)(size_t)(slot<<2) ); + vec_uint4 selectmask = (vec_uint4)vec_perm( (vec_uint4){0,0,0,0}, _VECTORMATH_MASK_0xF000, shiftpattern ); + return vec_sel( dst, src, selectmask ); + } +} + +#define _vmathVfGetElement(vec, slot) ((float *)&(vec))[slot] +#ifdef _VECTORMATH_SET_CONSTS_IN_MEM +#define _vmathVfSetElement(vec, scalar, slot) ((float *)&(vec))[slot] = scalar +#else +#define _vmathVfSetElement(vec, scalar, slot) \ +{ \ + if (__builtin_constant_p(scalar)) { \ + (vec) = _vmathVfInsert(vec, (vec_float4){scalar, scalar, scalar, scalar}, slot); \ + } else { \ + ((float *)&(vec))[slot] = scalar; \ + } \ +} +#endif + +static inline vec_float4 _vmathVfSplatScalar(float scalar) +{ + vec_float4 result; + if (__builtin_constant_p(scalar)) { + result = (vec_float4){scalar, scalar, scalar, scalar}; + } else { + result = vec_ld(0, &scalar); + result = vec_splat(vec_perm(result, result, vec_lvsl(0, &scalar)), 0); + } + return result; +} + +static inline vec_uint4 _vmathVuiSplatScalar(unsigned int scalar) +{ + vec_uint4 result; + if (__builtin_constant_p(scalar)) { + result = (vec_uint4){scalar, scalar, scalar, scalar}; + } else { + result = vec_ld(0, &scalar); + result = vec_splat(vec_perm(result, result, vec_lvsl(0, &scalar)), 0); + } + return result; +} + +#endif + +namespace Vectormath { +namespace Aos { + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline VecIdx::operator floatInVec() const +{ + return floatInVec(ref, i); +} + +inline float VecIdx::getAsFloat() const +#else +inline VecIdx::operator float() const +#endif +{ + return _vmathVfGetElement(ref, i); +} + +inline float VecIdx::operator =( float scalar ) +{ + _vmathVfSetElement(ref, scalar, i); + return scalar; +} + +inline floatInVec VecIdx::operator =( floatInVec scalar ) +{ + ref = _vmathVfInsert(ref, scalar.get128(), i); + return scalar; +} + +inline floatInVec VecIdx::operator =( const VecIdx& scalar ) +{ + return *this = floatInVec(scalar.ref, scalar.i); +} + +inline floatInVec VecIdx::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +inline floatInVec VecIdx::operator *=( floatInVec scalar ) +{ + return *this = floatInVec(ref, i) * scalar; +} + +inline floatInVec VecIdx::operator /=( float scalar ) +{ + return *this /= floatInVec(scalar); +} + +inline floatInVec VecIdx::operator /=( floatInVec scalar ) +{ + return *this = floatInVec(ref, i) / scalar; +} + +inline floatInVec VecIdx::operator +=( float scalar ) +{ + return *this += floatInVec(scalar); +} + +inline floatInVec VecIdx::operator +=( floatInVec scalar ) +{ + return *this = floatInVec(ref, i) + scalar; +} + +inline floatInVec VecIdx::operator -=( float scalar ) +{ + return *this -= floatInVec(scalar); +} + +inline floatInVec VecIdx::operator -=( floatInVec scalar ) +{ + return *this = floatInVec(ref, i) - scalar; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & __builtin_constant_p(_z)) { + mVec128 = (vec_float4){_x, _y, _z, 0.0f}; + } else { + float *pf = (float *)&mVec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + } +} + +inline Vector3::Vector3( floatInVec _x, floatInVec _y, floatInVec _z ) +{ + vec_float4 xz = vec_mergeh( _x.get128(), _z.get128() ); + mVec128 = vec_mergeh( xz, _y.get128() ); +} + +inline Vector3::Vector3( Point3 pnt ) +{ + mVec128 = pnt.get128(); +} + +inline Vector3::Vector3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +inline Vector3::Vector3( floatInVec scalar ) +{ + mVec128 = scalar.get128(); +} + +inline Vector3::Vector3( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_1000 ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0100 ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0010 ); +} + +inline const Vector3 lerp( float t, Vector3 vec0, Vector3 vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +inline const Vector3 lerp( floatInVec t, Vector3 vec0, Vector3 vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, Vector3 unitVec0, Vector3 unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +inline const Vector3 slerp( floatInVec t, Vector3 unitVec0, Vector3 unitVec1 ) +{ + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector3( vec_madd( unitVec0.get128(), scale0, vec_madd( unitVec1.get128(), scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); +} + +inline vec_float4 Vector3::get128( ) const +{ + return mVec128; +} + +inline void storeXYZ( Vector3 vec, vec_float4 * quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = _VECTORMATH_MASK_0x000F; + dstVec = vec_sel(vec.get128(), dstVec, mask); + *quad = dstVec; +} + +inline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = vec_sld( xyzx, yzxy, 12 ); + xyz2 = vec_sld( yzxy, zxyz, 8 ); + xyz3 = vec_sld( zxyz, zxyz, 4 ); + vec0 = Vector3( xyzx ); + vec1 = Vector3( xyz1 ); + vec2 = Vector3( xyz2 ); + vec3 = Vector3( xyz3 ); +} + +inline void storeXYZArray( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = vec_perm( vec0.get128(), vec1.get128(), _VECTORMATH_PERM_XYZA ); + yzxy = vec_perm( vec1.get128(), vec2.get128(), _VECTORMATH_PERM_YZAB ); + zxyz = vec_perm( vec2.get128(), vec3.get128(), _VECTORMATH_PERM_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4, Vector3 vec5, Vector3 vec6, Vector3 vec7, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + storeXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Vector3 & Vector3::operator =( Vector3 vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +inline Vector3 & Vector3::setX( floatInVec _x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +inline const floatInVec Vector3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +inline Vector3 & Vector3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +inline Vector3 & Vector3::setY( floatInVec _y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +inline const floatInVec Vector3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +inline Vector3 & Vector3::setZ( floatInVec _z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +inline const floatInVec Vector3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +inline Vector3 & Vector3::setElem( int idx, floatInVec value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +inline const floatInVec Vector3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline VecIdx Vector3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline const floatInVec Vector3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline const Vector3 Vector3::operator +( Vector3 vec ) const +{ + return Vector3( vec_add( mVec128, vec.mVec128 ) ); +} + +inline const Vector3 Vector3::operator -( Vector3 vec ) const +{ + return Vector3( vec_sub( mVec128, vec.mVec128 ) ); +} + +inline const Point3 Vector3::operator +( Point3 pnt ) const +{ + return Point3( vec_add( mVec128, pnt.get128() ) ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +inline const Vector3 Vector3::operator *( floatInVec scalar ) const +{ + return Vector3( vec_madd( mVec128, scalar.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline Vector3 & Vector3::operator +=( Vector3 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( Vector3 vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline Vector3 & Vector3::operator *=( floatInVec scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +inline const Vector3 Vector3::operator /( floatInVec scalar ) const +{ + return Vector3( divf4( mVec128, scalar.get128() ) ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline Vector3 & Vector3::operator /=( floatInVec scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( negatef4( mVec128 ) ); +} + +inline const Vector3 operator *( float scalar, Vector3 vec ) +{ + return floatInVec(scalar) * vec; +} + +inline const Vector3 operator *( floatInVec scalar, Vector3 vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( vec_madd( vec0.get128(), vec1.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Vector3 divPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( divf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 recipPerElem( Vector3 vec ) +{ + return Vector3( recipf4( vec.get128() ) ); +} + +inline const Vector3 sqrtPerElem( Vector3 vec ) +{ + return Vector3( sqrtf4( vec.get128() ) ); +} + +inline const Vector3 rsqrtPerElem( Vector3 vec ) +{ + return Vector3( rsqrtf4( vec.get128() ) ); +} + +inline const Vector3 absPerElem( Vector3 vec ) +{ + return Vector3( fabsf4( vec.get128() ) ); +} + +inline const Vector3 copySignPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( copysignf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 maxPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( fmaxf4( vec0.get128(), vec1.get128() ) ); +} + +inline const floatInVec maxElem( Vector3 vec ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = fmaxf4( vec_splat( vec.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const Vector3 minPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( fminf4( vec0.get128(), vec1.get128() ) ); +} + +inline const floatInVec minElem( Vector3 vec ) +{ + vec_float4 result; + result = fminf4( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = fminf4( vec_splat( vec.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const floatInVec sum( Vector3 vec ) +{ + vec_float4 result; + result = vec_add( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = vec_add( vec_splat( vec.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const floatInVec dot( Vector3 vec0, Vector3 vec1 ) +{ + return floatInVec( _vmathVfDot3( vec0.get128(), vec1.get128() ), 0 ); +} + +inline const floatInVec lengthSqr( Vector3 vec ) +{ + return floatInVec( _vmathVfDot3( vec.get128(), vec.get128() ), 0 ); +} + +inline const floatInVec length( Vector3 vec ) +{ + return floatInVec( sqrtf4(_vmathVfDot3( vec.get128(), vec.get128() )), 0 ); +} + +inline const Vector3 normalize( Vector3 vec ) +{ + vec_float4 dot = _vmathVfDot3( vec.get128(), vec.get128() ); + dot = vec_splat( dot, 0 ); + return Vector3( vec_madd( vec.get128(), rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Vector3 cross( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( _vmathVfCross( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 select( Vector3 vec0, Vector3 vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + +inline const Vector3 select( Vector3 vec0, Vector3 vec1, boolInVec select1 ) +{ + return Vector3( vec_sel( vec0.get128(), vec1.get128(), select1.get128() ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Vector3 vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +inline void print( Vector3 vec, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & + __builtin_constant_p(_z) & __builtin_constant_p(_w)) { + mVec128 = (vec_float4){_x, _y, _z, _w}; + } else { + float *pf = (float *)&mVec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + pf[3] = _w; + } +} + +inline Vector4::Vector4( floatInVec _x, floatInVec _y, floatInVec _z, floatInVec _w ) +{ + vec_float4 xz = vec_mergeh( _x.get128(), _z.get128() ); + vec_float4 yw = vec_mergeh( _y.get128(), _w.get128() ); + mVec128 = vec_mergeh( xz, yw ); +} + +inline Vector4::Vector4( Vector3 xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + +inline Vector4::Vector4( Vector3 xyz, floatInVec _w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +inline Vector4::Vector4( Vector3 vec ) +{ + mVec128 = vec.get128(); + mVec128 = _vmathVfInsert(mVec128, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), 3); +} + +inline Vector4::Vector4( Point3 pnt ) +{ + mVec128 = pnt.get128(); + mVec128 = _vmathVfInsert(mVec128, ((vec_float4){1.0f,1.0f,1.0f,1.0f}), 3); +} + +inline Vector4::Vector4( Quat quat ) +{ + mVec128 = quat.get128(); +} + +inline Vector4::Vector4( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +inline Vector4::Vector4( floatInVec scalar ) +{ + mVec128 = scalar.get128(); +} + +inline Vector4::Vector4( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_1000 ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0100 ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0010 ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0001 ); +} + +inline const Vector4 lerp( float t, Vector4 vec0, Vector4 vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +inline const Vector4 lerp( floatInVec t, Vector4 vec0, Vector4 vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, Vector4 unitVec0, Vector4 unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +inline const Vector4 slerp( floatInVec t, Vector4 unitVec0, Vector4 unitVec1 ) +{ + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + vec_uint4 selectMask; + cosAngle = _vmathVfDot4( unitVec0.get128(), unitVec1.get128() ); + cosAngle = vec_splat( cosAngle, 0 ); + selectMask = (vec_uint4)vec_cmpgt( ((vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + sines = sinf4( angles ); + scales = divf4( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector4( vec_madd( unitVec0.get128(), scale0, vec_madd( unitVec1.get128(), scale1, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) ); +} + +inline vec_float4 Vector4::get128( ) const +{ + return mVec128; +} + +inline void storeHalfFloats( Vector4 vec0, Vector4 vec1, Vector4 vec2, Vector4 vec3, vec_ushort8 * twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0.get128(), vec1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(vec2.get128(), vec3.get128()); +} + +inline Vector4 & Vector4::operator =( Vector4 vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +inline Vector4 & Vector4::setXYZ( Vector3 vec ) +{ + mVec128 = vec_sel( vec.get128(), mVec128, _VECTORMATH_MASK_0x000F ); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +inline Vector4 & Vector4::setX( floatInVec _x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +inline const floatInVec Vector4::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +inline Vector4 & Vector4::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +inline Vector4 & Vector4::setY( floatInVec _y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +inline const floatInVec Vector4::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +inline Vector4 & Vector4::setZ( floatInVec _z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +inline const floatInVec Vector4::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +inline Vector4 & Vector4::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +inline Vector4 & Vector4::setW( floatInVec _w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +inline const floatInVec Vector4::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +inline Vector4 & Vector4::setElem( int idx, floatInVec value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +inline const floatInVec Vector4::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline VecIdx Vector4::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline const floatInVec Vector4::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline const Vector4 Vector4::operator +( Vector4 vec ) const +{ + return Vector4( vec_add( mVec128, vec.mVec128 ) ); +} + +inline const Vector4 Vector4::operator -( Vector4 vec ) const +{ + return Vector4( vec_sub( mVec128, vec.mVec128 ) ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +inline const Vector4 Vector4::operator *( floatInVec scalar ) const +{ + return Vector4( vec_madd( mVec128, scalar.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline Vector4 & Vector4::operator +=( Vector4 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( Vector4 vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline Vector4 & Vector4::operator *=( floatInVec scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +inline const Vector4 Vector4::operator /( floatInVec scalar ) const +{ + return Vector4( divf4( mVec128, scalar.get128() ) ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline Vector4 & Vector4::operator /=( floatInVec scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( negatef4( mVec128 ) ); +} + +inline const Vector4 operator *( float scalar, Vector4 vec ) +{ + return floatInVec(scalar) * vec; +} + +inline const Vector4 operator *( floatInVec scalar, Vector4 vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( vec_madd( vec0.get128(), vec1.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Vector4 divPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( divf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector4 recipPerElem( Vector4 vec ) +{ + return Vector4( recipf4( vec.get128() ) ); +} + +inline const Vector4 sqrtPerElem( Vector4 vec ) +{ + return Vector4( sqrtf4( vec.get128() ) ); +} + +inline const Vector4 rsqrtPerElem( Vector4 vec ) +{ + return Vector4( rsqrtf4( vec.get128() ) ); +} + +inline const Vector4 absPerElem( Vector4 vec ) +{ + return Vector4( fabsf4( vec.get128() ) ); +} + +inline const Vector4 copySignPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( copysignf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector4 maxPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( fmaxf4( vec0.get128(), vec1.get128() ) ); +} + +inline const floatInVec maxElem( Vector4 vec ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = fmaxf4( vec_splat( vec.get128(), 2 ), result ); + result = fmaxf4( vec_splat( vec.get128(), 3 ), result ); + return floatInVec( result, 0 ); +} + +inline const Vector4 minPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( fminf4( vec0.get128(), vec1.get128() ) ); +} + +inline const floatInVec minElem( Vector4 vec ) +{ + vec_float4 result; + result = fminf4( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = fminf4( vec_splat( vec.get128(), 2 ), result ); + result = fminf4( vec_splat( vec.get128(), 3 ), result ); + return floatInVec( result, 0 ); +} + +inline const floatInVec sum( Vector4 vec ) +{ + vec_float4 result; + result = vec_add( vec_splat( vec.get128(), 1 ), vec.get128() ); + result = vec_add( vec_splat( vec.get128(), 2 ), result ); + result = vec_add( vec_splat( vec.get128(), 3 ), result ); + return floatInVec( result, 0 ); +} + +inline const floatInVec dot( Vector4 vec0, Vector4 vec1 ) +{ + return floatInVec( _vmathVfDot4( vec0.get128(), vec1.get128() ), 0 ); +} + +inline const floatInVec lengthSqr( Vector4 vec ) +{ + return floatInVec( _vmathVfDot4( vec.get128(), vec.get128() ), 0 ); +} + +inline const floatInVec length( Vector4 vec ) +{ + return floatInVec( sqrtf4(_vmathVfDot4( vec.get128(), vec.get128() )), 0 ); +} + +inline const Vector4 normalize( Vector4 vec ) +{ + vec_float4 dot = _vmathVfDot4( vec.get128(), vec.get128() ); + return Vector4( vec_madd( vec.get128(), rsqrtf4( dot ), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Vector4 select( Vector4 vec0, Vector4 vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + +inline const Vector4 select( Vector4 vec0, Vector4 vec1, boolInVec select1 ) +{ + return Vector4( vec_sel( vec0.get128(), vec1.get128(), select1.get128() ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Vector4 vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +inline void print( Vector4 vec, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +inline Point3::Point3( float _x, float _y, float _z ) +{ + if (__builtin_constant_p(_x) & __builtin_constant_p(_y) & __builtin_constant_p(_z)) { + mVec128 = (vec_float4){_x, _y, _z, 0.0f}; + } else { + float *pf = (float *)&mVec128; + pf[0] = _x; + pf[1] = _y; + pf[2] = _z; + } +} + +inline Point3::Point3( floatInVec _x, floatInVec _y, floatInVec _z ) +{ + vec_float4 xz = vec_mergeh( _x.get128(), _z.get128() ); + mVec128 = vec_mergeh( xz, _y.get128() ); +} + +inline Point3::Point3( Vector3 vec ) +{ + mVec128 = vec.get128(); +} + +inline Point3::Point3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +inline Point3::Point3( floatInVec scalar ) +{ + mVec128 = scalar.get128(); +} + +inline Point3::Point3( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Point3 lerp( float t, Point3 pnt0, Point3 pnt1 ) +{ + return lerp( floatInVec(t), pnt0, pnt1 ); +} + +inline const Point3 lerp( floatInVec t, Point3 pnt0, Point3 pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline vec_float4 Point3::get128( ) const +{ + return mVec128; +} + +inline void storeXYZ( Point3 pnt, vec_float4 * quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = _VECTORMATH_MASK_0x000F; + dstVec = vec_sel(pnt.get128(), dstVec, mask); + *quad = dstVec; +} + +inline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = vec_sld( xyzx, yzxy, 12 ); + xyz2 = vec_sld( yzxy, zxyz, 8 ); + xyz3 = vec_sld( zxyz, zxyz, 4 ); + pnt0 = Point3( xyzx ); + pnt1 = Point3( xyz1 ); + pnt2 = Point3( xyz2 ); + pnt3 = Point3( xyz3 ); +} + +inline void storeXYZArray( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = vec_perm( pnt0.get128(), pnt1.get128(), _VECTORMATH_PERM_XYZA ); + yzxy = vec_perm( pnt1.get128(), pnt2.get128(), _VECTORMATH_PERM_YZAB ); + zxyz = vec_perm( pnt2.get128(), pnt3.get128(), _VECTORMATH_PERM_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, Point3 pnt4, Point3 pnt5, Point3 pnt6, Point3 pnt7, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + storeXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Point3 & Point3::operator =( Point3 pnt ) +{ + mVec128 = pnt.mVec128; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +inline Point3 & Point3::setX( floatInVec _x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +inline const floatInVec Point3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +inline Point3 & Point3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +inline Point3 & Point3::setY( floatInVec _y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +inline const floatInVec Point3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +inline Point3 & Point3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +inline Point3 & Point3::setZ( floatInVec _z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +inline const floatInVec Point3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +inline Point3 & Point3::setElem( int idx, floatInVec value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +inline const floatInVec Point3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline VecIdx Point3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline const floatInVec Point3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +inline const Vector3 Point3::operator -( Point3 pnt ) const +{ + return Vector3( vec_sub( mVec128, pnt.mVec128 ) ); +} + +inline const Point3 Point3::operator +( Vector3 vec ) const +{ + return Point3( vec_add( mVec128, vec.get128() ) ); +} + +inline const Point3 Point3::operator -( Vector3 vec ) const +{ + return Point3( vec_sub( mVec128, vec.get128() ) ); +} + +inline Point3 & Point3::operator +=( Vector3 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( Vector3 vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( vec_madd( pnt0.get128(), pnt1.get128(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); +} + +inline const Point3 divPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( divf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const Point3 recipPerElem( Point3 pnt ) +{ + return Point3( recipf4( pnt.get128() ) ); +} + +inline const Point3 sqrtPerElem( Point3 pnt ) +{ + return Point3( sqrtf4( pnt.get128() ) ); +} + +inline const Point3 rsqrtPerElem( Point3 pnt ) +{ + return Point3( rsqrtf4( pnt.get128() ) ); +} + +inline const Point3 absPerElem( Point3 pnt ) +{ + return Point3( fabsf4( pnt.get128() ) ); +} + +inline const Point3 copySignPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( copysignf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const Point3 maxPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( fmaxf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const floatInVec maxElem( Point3 pnt ) +{ + vec_float4 result; + result = fmaxf4( vec_splat( pnt.get128(), 1 ), pnt.get128() ); + result = fmaxf4( vec_splat( pnt.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const Point3 minPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( fminf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const floatInVec minElem( Point3 pnt ) +{ + vec_float4 result; + result = fminf4( vec_splat( pnt.get128(), 1 ), pnt.get128() ); + result = fminf4( vec_splat( pnt.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const floatInVec sum( Point3 pnt ) +{ + vec_float4 result; + result = vec_add( vec_splat( pnt.get128(), 1 ), pnt.get128() ); + result = vec_add( vec_splat( pnt.get128(), 2 ), result ); + return floatInVec( result, 0 ); +} + +inline const Point3 scale( Point3 pnt, float scaleVal ) +{ + return scale( pnt, floatInVec( scaleVal ) ); +} + +inline const Point3 scale( Point3 pnt, floatInVec scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( Point3 pnt, Vector3 scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline const floatInVec projection( Point3 pnt, Vector3 unitVec ) +{ + return floatInVec( _vmathVfDot3( pnt.get128(), unitVec.get128() ), 0 ); +} + +inline const floatInVec distSqrFromOrigin( Point3 pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline const floatInVec distFromOrigin( Point3 pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline const floatInVec distSqr( Point3 pnt0, Point3 pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline const floatInVec dist( Point3 pnt0, Point3 pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( Point3 pnt0, Point3 pnt1, bool select1 ) +{ + return select( pnt0, pnt1, boolInVec(select1) ); +} + +inline const Point3 select( Point3 pnt0, Point3 pnt1, boolInVec select1 ) +{ + return Point3( vec_sel( pnt0.get128(), pnt1.get128(), select1.get128() ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Point3 pnt ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +inline void print( Point3 pnt, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_soa.h new file mode 100644 index 000000000..89fdfcf7f --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vec_soa.h @@ -0,0 +1,1425 @@ +/* + 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_VEC_SOA_CPP_H +#define _VECTORMATH_VEC_SOA_CPP_H +//----------------------------------------------------------------------------- +// Constants +// for permutes, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZDWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_ZCXA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XBZD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WDYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_WCYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_D, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B }) +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Soa { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline Vector3::Vector3( Aos::Vector3 vec ) +{ + vec_float4 vec128 = vec.get128(); + mX = vec_splat( vec128, 0 ); + mY = vec_splat( vec128, 1 ); + mZ = vec_splat( vec128, 2 ); +} + +inline Vector3::Vector3( Aos::Vector3 vec0, Aos::Vector3 vec1, Aos::Vector3 vec2, Aos::Vector3 vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( vec0.get128(), vec2.get128() ); + tmp1 = vec_mergeh( vec1.get128(), vec3.get128() ); + tmp2 = vec_mergel( vec0.get128(), vec2.get128() ); + tmp3 = vec_mergel( vec1.get128(), vec3.get128() ); + mX = vec_mergeh( tmp0, tmp1 ); + mY = vec_mergel( tmp0, tmp1 ); + mZ = vec_mergeh( tmp2, tmp3 ); +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +inline const Vector3 lerp( vec_float4 t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( vec_float4 t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = dot( unitVec0, unitVec1 ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void Vector3::get4Aos( Aos::Vector3 & result0, Aos::Vector3 & result1, Aos::Vector3 & result2, Aos::Vector3 & result3 ) const +{ + vec_float4 tmp0, tmp1; + tmp0 = vec_mergeh( mX, mZ ); + tmp1 = vec_mergel( mX, mZ ); + result0 = Aos::Vector3( vec_mergeh( tmp0, mY ) ); + result1 = Aos::Vector3( vec_perm( tmp0, mY, _VECTORMATH_PERM_ZBWX ) ); + result2 = Aos::Vector3( vec_perm( tmp1, mY, _VECTORMATH_PERM_XCYX ) ); + result3 = Aos::Vector3( vec_perm( tmp1, mY, _VECTORMATH_PERM_ZDWX ) ); +} + +inline void loadXYZArray( Vector3 & vec, const vec_float4 * threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = vec_sld( yzxy, xyzx, 8 ); + zxzx = vec_sld( xyzx, zxyz, 8 ); + yzyz = vec_sld( zxyz, yzxy, 8 ); + vec.setX( vec_perm( xyxy, zxzx, _VECTORMATH_PERM_ZBXD ) ); + vec.setY( vec_perm( xyxy, yzyz, _VECTORMATH_PERM_WCYA ) ); + vec.setZ( vec_perm( zxzx, yzyz, _VECTORMATH_PERM_XDZB ) ); +} + +inline void storeXYZArray( const Vector3 & vec, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = vec_perm( vec.getX(), vec.getY(), _VECTORMATH_PERM_ZCXA ); + zxzx = vec_perm( vec.getZ(), vec.getX(), _VECTORMATH_PERM_XBZD ); + yzyz = vec_perm( vec.getY(), vec.getZ(), _VECTORMATH_PERM_WDYB ); + xyzx = vec_sld( xyxy, zxzx, 8 ); + yzxy = vec_sld( yzyz, xyxy, 8 ); + zxyz = vec_sld( zxzx, yzyz, 8 ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( const Vector3 & vec0, const Vector3 & vec1, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( vec0, xyz0 ); + storeXYZArray( vec1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Vector3::vec_float4_t & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + vec_add( mX, vec.mX ), + vec_add( mY, vec.mY ), + vec_add( mZ, vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + vec_sub( mX, vec.mX ), + vec_sub( mY, vec.mY ), + vec_sub( mZ, vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + vec_add( mX, pnt.getX() ), + vec_add( mY, pnt.getY() ), + vec_add( mZ, pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( vec_float4 scalar ) const +{ + return Vector3( + vec_madd( mX, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mY, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mZ, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( vec_float4 scalar ) const +{ + return Vector3( + divf4( mX, scalar ), + divf4( mY, scalar ), + divf4( mZ, scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( vec_float4 scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + negatef4( mX ), + negatef4( mY ), + negatef4( mZ ) + ); +} + +inline const Vector3 operator *( vec_float4 scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + vec_madd( vec0.getX(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec0.getY(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec0.getZ(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + divf4( vec0.getX(), vec1.getX() ), + divf4( vec0.getY(), vec1.getY() ), + divf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getX() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getY() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf4( vec.getX() ), + sqrtf4( vec.getY() ), + sqrtf4( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getX() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getY() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf4( vec.getX() ), + fabsf4( vec.getY() ), + fabsf4( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + copysignf4( vec0.getX(), vec1.getX() ), + copysignf4( vec0.getY(), vec1.getY() ), + copysignf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + fmaxf4( vec0.getX(), vec1.getX() ), + fmaxf4( vec0.getY(), vec1.getY() ), + fmaxf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline vec_float4 maxElem( const Vector3 & vec ) +{ + vec_float4 result; + result = fmaxf4( vec.getX(), vec.getY() ); + result = fmaxf4( vec.getZ(), result ); + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + fminf4( vec0.getX(), vec1.getX() ), + fminf4( vec0.getY(), vec1.getY() ), + fminf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline vec_float4 minElem( const Vector3 & vec ) +{ + vec_float4 result; + result = fminf4( vec.getX(), vec.getY() ); + result = fminf4( vec.getZ(), result ); + return result; +} + +inline vec_float4 sum( const Vector3 & vec ) +{ + vec_float4 result; + result = vec_add( vec.getX(), vec.getY() ); + result = vec_add( result, vec.getZ() ); + return result; +} + +inline vec_float4 dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0.getX(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec0.getY(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0.getZ(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 lengthSqr( const Vector3 & vec ) +{ + vec_float4 result; + result = vec_madd( vec.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 length( const Vector3 & vec ) +{ + return sqrtf4( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + return Vector3( + vec_madd( vec.getX(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec.getY(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec.getZ(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + vec_sub( vec_madd( vec0.getY(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0.getZ(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_sub( vec_madd( vec0.getZ(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0.getX(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), + vec_sub( vec_madd( vec0.getX(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), vec_madd( vec0.getY(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, vec_uint4 select1 ) +{ + return Vector3( + vec_sel( vec0.getX(), vec1.getX(), select1 ), + vec_sel( vec0.getY(), vec1.getY(), select1 ), + vec_sel( vec0.getZ(), vec1.getZ(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + Aos::Vector3 vec0, vec1, vec2, vec3; + vec.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 Vector3 & vec, const char * name ) +{ + Aos::Vector3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vec.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 + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, vec_float4 _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = ((vec_float4){0.0f,0.0f,0.0f,0.0f}); +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = ((vec_float4){1.0f,1.0f,1.0f,1.0f}); +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline Vector4::Vector4( Aos::Vector4 vec ) +{ + vec_float4 vec128 = vec.get128(); + mX = vec_splat( vec128, 0 ); + mY = vec_splat( vec128, 1 ); + mZ = vec_splat( vec128, 2 ); + mW = vec_splat( vec128, 3 ); +} + +inline Vector4::Vector4( Aos::Vector4 vec0, Aos::Vector4 vec1, Aos::Vector4 vec2, Aos::Vector4 vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( vec0.get128(), vec2.get128() ); + tmp1 = vec_mergeh( vec1.get128(), vec3.get128() ); + tmp2 = vec_mergel( vec0.get128(), vec2.get128() ); + tmp3 = vec_mergel( vec1.get128(), vec3.get128() ); + mX = vec_mergeh( tmp0, tmp1 ); + mY = vec_mergel( tmp0, tmp1 ); + mZ = vec_mergeh( tmp2, tmp3 ); + mW = vec_mergel( tmp2, tmp3 ); +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ); +} + +inline const Vector4 lerp( vec_float4 t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( vec_float4 t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = dot( unitVec0, unitVec1 ); + selectMask = (vec_uint4)vec_cmpgt( (vec_float4){_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL,_VECTORMATH_SLERP_TOL}, cosAngle ); + angle = acosf4( cosAngle ); + recipSinAngle = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sinf4( angle ) ); + scale0 = vec_sel( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), vec_madd( sinf4( vec_madd( vec_sub( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), t ), angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + scale1 = vec_sel( t, vec_madd( sinf4( vec_madd( t, angle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ), recipSinAngle, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), selectMask ); + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void Vector4::get4Aos( Aos::Vector4 & result0, Aos::Vector4 & result1, Aos::Vector4 & result2, Aos::Vector4 & result3 ) const +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( mX, mZ ); + tmp1 = vec_mergeh( mY, mW ); + tmp2 = vec_mergel( mX, mZ ); + tmp3 = vec_mergel( mY, mW ); + result0 = Aos::Vector4( vec_mergeh( tmp0, tmp1 ) ); + result1 = Aos::Vector4( vec_mergel( tmp0, tmp1 ) ); + result2 = Aos::Vector4( vec_mergeh( tmp2, tmp3 ) ); + result3 = Aos::Vector4( vec_mergel( tmp2, tmp3 ) ); +} + +inline void storeHalfFloats( const Vector4 & vec, vec_ushort8 * twoQuads ) +{ + Aos::Vector4 v0, v1, v2, v3; + vec.get4Aos( v0, v1, v2, v3 ); + twoQuads[0] = _vmath2VfToHalfFloats(v0.get128(), v1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(v2.get128(), v3.get128()); +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( vec_float4 _w ) +{ + mW = _w; + return *this; +} + +inline vec_float4 Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Vector4::vec_float4_t & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + vec_add( mX, vec.mX ), + vec_add( mY, vec.mY ), + vec_add( mZ, vec.mZ ), + vec_add( mW, vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + vec_sub( mX, vec.mX ), + vec_sub( mY, vec.mY ), + vec_sub( mZ, vec.mZ ), + vec_sub( mW, vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( vec_float4 scalar ) const +{ + return Vector4( + vec_madd( mX, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mY, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mZ, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( mW, scalar, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( vec_float4 scalar ) const +{ + return Vector4( + divf4( mX, scalar ), + divf4( mY, scalar ), + divf4( mZ, scalar ), + divf4( mW, scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( vec_float4 scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + negatef4( mX ), + negatef4( mY ), + negatef4( mZ ), + negatef4( mW ) + ); +} + +inline const Vector4 operator *( vec_float4 scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + vec_madd( vec0.getX(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec0.getY(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec0.getZ(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec0.getW(), vec1.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + divf4( vec0.getX(), vec1.getX() ), + divf4( vec0.getY(), vec1.getY() ), + divf4( vec0.getZ(), vec1.getZ() ), + divf4( vec0.getW(), vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getX() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getY() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getZ() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf4( vec.getX() ), + sqrtf4( vec.getY() ), + sqrtf4( vec.getZ() ), + sqrtf4( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getX() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getY() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getZ() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf4( vec.getX() ), + fabsf4( vec.getY() ), + fabsf4( vec.getZ() ), + fabsf4( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + copysignf4( vec0.getX(), vec1.getX() ), + copysignf4( vec0.getY(), vec1.getY() ), + copysignf4( vec0.getZ(), vec1.getZ() ), + copysignf4( vec0.getW(), vec1.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + fmaxf4( vec0.getX(), vec1.getX() ), + fmaxf4( vec0.getY(), vec1.getY() ), + fmaxf4( vec0.getZ(), vec1.getZ() ), + fmaxf4( vec0.getW(), vec1.getW() ) + ); +} + +inline vec_float4 maxElem( const Vector4 & vec ) +{ + vec_float4 result; + result = fmaxf4( vec.getX(), vec.getY() ); + result = fmaxf4( vec.getZ(), result ); + result = fmaxf4( vec.getW(), result ); + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + fminf4( vec0.getX(), vec1.getX() ), + fminf4( vec0.getY(), vec1.getY() ), + fminf4( vec0.getZ(), vec1.getZ() ), + fminf4( vec0.getW(), vec1.getW() ) + ); +} + +inline vec_float4 minElem( const Vector4 & vec ) +{ + vec_float4 result; + result = fminf4( vec.getX(), vec.getY() ); + result = fminf4( vec.getZ(), result ); + result = fminf4( vec.getW(), result ); + return result; +} + +inline vec_float4 sum( const Vector4 & vec ) +{ + vec_float4 result; + result = vec_add( vec.getX(), vec.getY() ); + result = vec_add( result, vec.getZ() ); + result = vec_add( result, vec.getW() ); + return result; +} + +inline vec_float4 dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + vec_float4 result; + result = vec_madd( vec0.getX(), vec1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec0.getY(), vec1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0.getZ(), vec1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec0.getW(), vec1.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 lengthSqr( const Vector4 & vec ) +{ + vec_float4 result; + result = vec_madd( vec.getX(), vec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( vec.getY(), vec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec.getZ(), vec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( vec.getW(), vec.getW(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 length( const Vector4 & vec ) +{ + return sqrtf4( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( lenSqr ) ); + return Vector4( + vec_madd( vec.getX(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec.getY(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec.getZ(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( vec.getW(), lenInv, ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, vec_uint4 select1 ) +{ + return Vector4( + vec_sel( vec0.getX(), vec1.getX(), select1 ), + vec_sel( vec0.getY(), vec1.getY(), select1 ), + vec_sel( vec0.getZ(), vec1.getZ(), select1 ), + vec_sel( vec0.getW(), vec1.getW(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + Aos::Vector4 vec0, vec1, vec2, vec3; + vec.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 Vector4 & vec, const char * name ) +{ + Aos::Vector4 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vec.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 + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline Point3::Point3( Aos::Point3 pnt ) +{ + vec_float4 vec128 = pnt.get128(); + mX = vec_splat( vec128, 0 ); + mY = vec_splat( vec128, 1 ); + mZ = vec_splat( vec128, 2 ); +} + +inline Point3::Point3( Aos::Point3 pnt0, Aos::Point3 pnt1, Aos::Point3 pnt2, Aos::Point3 pnt3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = vec_mergeh( pnt0.get128(), pnt2.get128() ); + tmp1 = vec_mergeh( pnt1.get128(), pnt3.get128() ); + tmp2 = vec_mergel( pnt0.get128(), pnt2.get128() ); + tmp3 = vec_mergel( pnt1.get128(), pnt3.get128() ); + mX = vec_mergeh( tmp0, tmp1 ); + mY = vec_mergel( tmp0, tmp1 ); + mZ = vec_mergeh( tmp2, tmp3 ); +} + +inline const Point3 lerp( vec_float4 t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void Point3::get4Aos( Aos::Point3 & result0, Aos::Point3 & result1, Aos::Point3 & result2, Aos::Point3 & result3 ) const +{ + vec_float4 tmp0, tmp1; + tmp0 = vec_mergeh( mX, mZ ); + tmp1 = vec_mergel( mX, mZ ); + result0 = Aos::Point3( vec_mergeh( tmp0, mY ) ); + result1 = Aos::Point3( vec_perm( tmp0, mY, _VECTORMATH_PERM_ZBWX ) ); + result2 = Aos::Point3( vec_perm( tmp1, mY, _VECTORMATH_PERM_XCYX ) ); + result3 = Aos::Point3( vec_perm( tmp1, mY, _VECTORMATH_PERM_ZDWX ) ); +} + +inline void loadXYZArray( Point3 & vec, const vec_float4 * threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = vec_sld( yzxy, xyzx, 8 ); + zxzx = vec_sld( xyzx, zxyz, 8 ); + yzyz = vec_sld( zxyz, yzxy, 8 ); + vec.setX( vec_perm( xyxy, zxzx, _VECTORMATH_PERM_ZBXD ) ); + vec.setY( vec_perm( xyxy, yzyz, _VECTORMATH_PERM_WCYA ) ); + vec.setZ( vec_perm( zxzx, yzyz, _VECTORMATH_PERM_XDZB ) ); +} + +inline void storeXYZArray( const Point3 & vec, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = vec_perm( vec.getX(), vec.getY(), _VECTORMATH_PERM_ZCXA ); + zxzx = vec_perm( vec.getZ(), vec.getX(), _VECTORMATH_PERM_XBZD ); + yzyz = vec_perm( vec.getY(), vec.getZ(), _VECTORMATH_PERM_WDYB ); + xyzx = vec_sld( xyxy, zxzx, 8 ); + yzxy = vec_sld( yzyz, xyxy, 8 ); + zxyz = vec_sld( zxzx, yzyz, 8 ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( const Point3 & pnt0, const Point3 & pnt1, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( pnt0, xyz0 ); + storeXYZArray( pnt1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Point3::vec_float4_t & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + vec_sub( mX, pnt.mX ), + vec_sub( mY, pnt.mY ), + vec_sub( mZ, pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + vec_add( mX, vec.getX() ), + vec_add( mY, vec.getY() ), + vec_add( mZ, vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + vec_sub( mX, vec.getX() ), + vec_sub( mY, vec.getY() ), + vec_sub( mZ, vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + vec_madd( pnt0.getX(), pnt1.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( pnt0.getY(), pnt1.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ), + vec_madd( pnt0.getZ(), pnt1.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + divf4( pnt0.getX(), pnt1.getX() ), + divf4( pnt0.getY(), pnt1.getY() ), + divf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt.getX() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt.getY() ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf4( pnt.getX() ), + sqrtf4( pnt.getY() ), + sqrtf4( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt.getX() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt.getY() ) ), + divf4( ((vec_float4){1.0f,1.0f,1.0f,1.0f}), sqrtf4( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf4( pnt.getX() ), + fabsf4( pnt.getY() ), + fabsf4( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + copysignf4( pnt0.getX(), pnt1.getX() ), + copysignf4( pnt0.getY(), pnt1.getY() ), + copysignf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + fmaxf4( pnt0.getX(), pnt1.getX() ), + fmaxf4( pnt0.getY(), pnt1.getY() ), + fmaxf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline vec_float4 maxElem( const Point3 & pnt ) +{ + vec_float4 result; + result = fmaxf4( pnt.getX(), pnt.getY() ); + result = fmaxf4( pnt.getZ(), result ); + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + fminf4( pnt0.getX(), pnt1.getX() ), + fminf4( pnt0.getY(), pnt1.getY() ), + fminf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline vec_float4 minElem( const Point3 & pnt ) +{ + vec_float4 result; + result = fminf4( pnt.getX(), pnt.getY() ); + result = fminf4( pnt.getZ(), result ); + return result; +} + +inline vec_float4 sum( const Point3 & pnt ) +{ + vec_float4 result; + result = vec_add( pnt.getX(), pnt.getY() ); + result = vec_add( result, pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, vec_float4 scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline vec_float4 projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + vec_float4 result; + result = vec_madd( pnt.getX(), unitVec.getX(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ); + result = vec_add( result, vec_madd( pnt.getY(), unitVec.getY(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + result = vec_add( result, vec_madd( pnt.getZ(), unitVec.getZ(), ((vec_float4){0.0f,0.0f,0.0f,0.0f}) ) ); + return result; +} + +inline vec_float4 distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline vec_float4 distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline vec_float4 distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline vec_float4 dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, vec_uint4 select1 ) +{ + return Point3( + vec_sel( pnt0.getX(), pnt1.getX(), select1 ), + vec_sel( pnt0.getY(), pnt1.getY(), select1 ), + vec_sel( pnt0.getZ(), pnt1.getZ(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + Aos::Point3 vec0, vec1, vec2, vec3; + pnt.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 Point3 & pnt, const char * name ) +{ + Aos::Point3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + pnt.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 diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vecidx_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vecidx_aos.h new file mode 100644 index 000000000..df3357570 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vecidx_aos.h @@ -0,0 +1,80 @@ +/* + 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 "floatInVec.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_t& vec, int idx ): ref(vec) { i = idx; } + + // implicitly casts to float unless _VECTORMATH_NO_SCALAR_CAST defined + // in which case, implicitly casts to floatInVec, and one must call + // getAsFloat to convert to float. + // +#ifdef _VECTORMATH_NO_SCALAR_CAST + inline operator floatInVec() const; + inline float getAsFloat() const; +#else + inline operator float() const; +#endif + + inline float operator =( float scalar ); + inline floatInVec operator =( floatInVec scalar ); + inline floatInVec operator =( const VecIdx& scalar ); + inline floatInVec operator *=( float scalar ); + inline floatInVec operator *=( floatInVec scalar ); + inline floatInVec operator /=( float scalar ); + inline floatInVec operator /=( floatInVec scalar ); + inline floatInVec operator +=( float scalar ); + inline floatInVec operator +=( floatInVec scalar ); + inline floatInVec operator -=( float scalar ); + inline floatInVec operator -=( floatInVec scalar ); +}; + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_aos.h new file mode 100644 index 000000000..fdd039b8a --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_aos.h @@ -0,0 +1,2244 @@ +/* + 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_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include +#include +#include "vecidx_aos.h" +#include "floatInVec.h" +#include "boolInVec.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Construct a 3-D vector from x, y, and z elements (scalar data contained in vector data type) + // + inline Vector3( floatInVec x, floatInVec y, floatInVec z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( Point3 pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Set all elements of a 3-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit inline Vector3( floatInVec scalar ); + + // Set vector float data in a 3-D vector + // + explicit inline Vector3( vec_float4 vf4 ); + + // Get vector float data from a 3-D vector + // + inline vec_float4 get128( ) const; + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( Vector3 vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Set the x element of a 3-D vector (scalar data contained in vector data type) + // + inline Vector3 & setX( floatInVec x ); + + // Set the y element of a 3-D vector (scalar data contained in vector data type) + // + inline Vector3 & setY( floatInVec y ); + + // Set the z element of a 3-D vector (scalar data contained in vector data type) + // + inline Vector3 & setZ( floatInVec z ); + + // Get the x element of a 3-D vector + // + inline const floatInVec getX( ) const; + + // Get the y element of a 3-D vector + // + inline const floatInVec getY( ) const; + + // Get the z element of a 3-D vector + // + inline const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D vector by index (scalar data contained in vector data type) + // + inline Vector3 & setElem( int idx, floatInVec value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline const floatInVec operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( Vector3 vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( Vector3 vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( Point3 pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Multiply a 3-D vector by a scalar (scalar data contained in vector data type) + // + inline const Vector3 operator *( floatInVec scalar ) const; + + // Divide a 3-D vector by a scalar (scalar data contained in vector data type) + // + inline const Vector3 operator /( floatInVec scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( Vector3 vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( Vector3 vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + inline Vector3 & operator *=( floatInVec scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + inline Vector3 & operator /=( floatInVec scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, Vector3 vec ); + +// Multiply a 3-D vector by a scalar (scalar data contained in vector data type) +// +inline const Vector3 operator *( floatInVec scalar, Vector3 vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( Vector3 vec0, Vector3 vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( Vector3 vec0, Vector3 vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( Vector3 vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( Vector3 vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( Vector3 vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( Vector3 vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( Vector3 vec0, Vector3 vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( Vector3 vec0, Vector3 vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( Vector3 vec0, Vector3 vec1 ); + +// Maximum element of a 3-D vector +// +inline const floatInVec maxElem( Vector3 vec ); + +// Minimum element of a 3-D vector +// +inline const floatInVec minElem( Vector3 vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline const floatInVec sum( Vector3 vec ); + +// Compute the dot product of two 3-D vectors +// +inline const floatInVec dot( Vector3 vec0, Vector3 vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline const floatInVec lengthSqr( Vector3 vec ); + +// Compute the length of a 3-D vector +// +inline const floatInVec length( Vector3 vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( Vector3 vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( Vector3 vec0, Vector3 vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( Vector3 vec0, Vector3 vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// NOTE: +// Slower than column post-multiply. +// +inline const Vector3 rowMul( Vector3 vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( Vector3 vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( Vector3 vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, Vector3 vec0, Vector3 vec1 ); + +// Linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( floatInVec t, Vector3 vec0, Vector3 vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, Vector3 unitVec0, Vector3 unitVec1 ); + +// Spherical linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( floatInVec t, Vector3 unitVec0, Vector3 unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Vector3 select( Vector3 vec0, Vector3 vec1, bool select1 ); + +// Conditionally select between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector3 select( Vector3 vec0, Vector3 vec1, boolInVec select1 ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a quadword. +// The value of the fourth word (the word with the highest address) remains unchanged +// +inline void storeXYZ( Vector3 vec, vec_float4 * quad ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +inline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const vec_float4 * threeQuads ); + +// Store four 3-D vectors in three quadwords +// +inline void storeXYZArray( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, vec_float4 * threeQuads ); + +// Store eight 3-D vectors as half-floats +// +inline void storeHalfFloats( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4, Vector3 vec5, Vector3 vec6, Vector3 vec7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector3 vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector3 vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from x, y, z, and w elements (scalar data contained in vector data type) + // + inline Vector4( floatInVec x, floatInVec y, floatInVec z, floatInVec w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( Vector3 xyz, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar (scalar data contained in vector data type) + // + inline Vector4( Vector3 xyz, floatInVec w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( Vector3 vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( Point3 pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( Quat quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Set all elements of a 4-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit inline Vector4( floatInVec scalar ); + + // Set vector float data in a 4-D vector + // + explicit inline Vector4( vec_float4 vf4 ); + + // Get vector float data from a 4-D vector + // + inline vec_float4 get128( ) const; + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( Vector4 vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( Vector3 vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Set the x element of a 4-D vector (scalar data contained in vector data type) + // + inline Vector4 & setX( floatInVec x ); + + // Set the y element of a 4-D vector (scalar data contained in vector data type) + // + inline Vector4 & setY( floatInVec y ); + + // Set the z element of a 4-D vector (scalar data contained in vector data type) + // + inline Vector4 & setZ( floatInVec z ); + + // Set the w element of a 4-D vector (scalar data contained in vector data type) + // + inline Vector4 & setW( floatInVec w ); + + // Get the x element of a 4-D vector + // + inline const floatInVec getX( ) const; + + // Get the y element of a 4-D vector + // + inline const floatInVec getY( ) const; + + // Get the z element of a 4-D vector + // + inline const floatInVec getZ( ) const; + + // Get the w element of a 4-D vector + // + inline const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a 4-D vector by index (scalar data contained in vector data type) + // + inline Vector4 & setElem( int idx, floatInVec value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline const floatInVec operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( Vector4 vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( Vector4 vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Multiply a 4-D vector by a scalar (scalar data contained in vector data type) + // + inline const Vector4 operator *( floatInVec scalar ) const; + + // Divide a 4-D vector by a scalar (scalar data contained in vector data type) + // + inline const Vector4 operator /( floatInVec scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( Vector4 vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( Vector4 vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + inline Vector4 & operator *=( floatInVec scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + inline Vector4 & operator /=( floatInVec scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, Vector4 vec ); + +// Multiply a 4-D vector by a scalar (scalar data contained in vector data type) +// +inline const Vector4 operator *( floatInVec scalar, Vector4 vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( Vector4 vec0, Vector4 vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( Vector4 vec0, Vector4 vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( Vector4 vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( Vector4 vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( Vector4 vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( Vector4 vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( Vector4 vec0, Vector4 vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( Vector4 vec0, Vector4 vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( Vector4 vec0, Vector4 vec1 ); + +// Maximum element of a 4-D vector +// +inline const floatInVec maxElem( Vector4 vec ); + +// Minimum element of a 4-D vector +// +inline const floatInVec minElem( Vector4 vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline const floatInVec sum( Vector4 vec ); + +// Compute the dot product of two 4-D vectors +// +inline const floatInVec dot( Vector4 vec0, Vector4 vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline const floatInVec lengthSqr( Vector4 vec ); + +// Compute the length of a 4-D vector +// +inline const floatInVec length( Vector4 vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( Vector4 vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( Vector4 vec0, Vector4 vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, Vector4 vec0, Vector4 vec1 ); + +// Linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( floatInVec t, Vector4 vec0, Vector4 vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, Vector4 unitVec0, Vector4 unitVec1 ); + +// Spherical linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( floatInVec t, Vector4 unitVec0, Vector4 unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Vector4 select( Vector4 vec0, Vector4 vec1, bool select1 ); + +// Conditionally select between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector4 select( Vector4 vec0, Vector4 vec1, boolInVec select1 ); + +// Store four 4-D vectors as half-floats +// +inline void storeHalfFloats( Vector4 vec0, Vector4 vec1, Vector4 vec2, Vector4 vec3, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector4 vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector4 vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Construct a 3-D point from x, y, and z elements (scalar data contained in vector data type) + // + inline Point3( floatInVec x, floatInVec y, floatInVec z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( Vector3 vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Set all elements of a 3-D point to the same scalar value (scalar data contained in vector data type) + // + explicit inline Point3( floatInVec scalar ); + + // Set vector float data in a 3-D point + // + explicit inline Point3( vec_float4 vf4 ); + + // Get vector float data from a 3-D point + // + inline vec_float4 get128( ) const; + + // Assign one 3-D point to another + // + inline Point3 & operator =( Point3 pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Set the x element of a 3-D point (scalar data contained in vector data type) + // + inline Point3 & setX( floatInVec x ); + + // Set the y element of a 3-D point (scalar data contained in vector data type) + // + inline Point3 & setY( floatInVec y ); + + // Set the z element of a 3-D point (scalar data contained in vector data type) + // + inline Point3 & setZ( floatInVec z ); + + // Get the x element of a 3-D point + // + inline const floatInVec getX( ) const; + + // Get the y element of a 3-D point + // + inline const floatInVec getY( ) const; + + // Get the z element of a 3-D point + // + inline const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D point by index (scalar data contained in vector data type) + // + inline Point3 & setElem( int idx, floatInVec value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline const floatInVec operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( Point3 pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( Vector3 vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( Vector3 vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( Vector3 vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( Vector3 vec ); + +}; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( Point3 pnt0, Point3 pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( Point3 pnt0, Point3 pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( Point3 pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( Point3 pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( Point3 pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( Point3 pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( Point3 pnt0, Point3 pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( Point3 pnt0, Point3 pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( Point3 pnt0, Point3 pnt1 ); + +// Maximum element of a 3-D point +// +inline const floatInVec maxElem( Point3 pnt ); + +// Minimum element of a 3-D point +// +inline const floatInVec minElem( Point3 pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline const floatInVec sum( Point3 pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( Point3 pnt, float scaleVal ); + +// Apply uniform scale to a 3-D point (scalar data contained in vector data type) +// +inline const Point3 scale( Point3 pnt, floatInVec scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( Point3 pnt, Vector3 scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline const floatInVec projection( Point3 pnt, Vector3 unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline const floatInVec distSqrFromOrigin( Point3 pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline const floatInVec distFromOrigin( Point3 pnt ); + +// Compute the square of the distance between two 3-D points +// +inline const floatInVec distSqr( Point3 pnt0, Point3 pnt1 ); + +// Compute the distance between two 3-D points +// +inline const floatInVec dist( Point3 pnt0, Point3 pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, Point3 pnt0, Point3 pnt1 ); + +// Linear interpolation between two 3-D points (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( floatInVec t, Point3 pnt0, Point3 pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Point3 select( Point3 pnt0, Point3 pnt1, bool select1 ); + +// Conditionally select between two 3-D points (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Point3 select( Point3 pnt0, Point3 pnt1, boolInVec select1 ); + +// Store x, y, and z elements of a 3-D point in the first three words of a quadword. +// The value of the fourth word (the word with the highest address) remains unchanged +// +inline void storeXYZ( Point3 pnt, vec_float4 * quad ); + +// Load four three-float 3-D points, stored in three quadwords +// +inline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const vec_float4 * threeQuads ); + +// Store four 3-D points in three quadwords +// +inline void storeXYZArray( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, vec_float4 * threeQuads ); + +// Store eight 3-D points as half-floats +// +inline void storeHalfFloats( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, Point3 pnt4, Point3 pnt5, Point3 pnt6, Point3 pnt7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Point3 pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Point3 pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from x, y, z, and w elements (scalar data contained in vector data type) + // + inline Quat( floatInVec x, floatInVec y, floatInVec z, floatInVec w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( Vector3 xyz, float w ); + + // Construct a quaternion from a 3-D vector and a scalar (scalar data contained in vector data type) + // + inline Quat( Vector3 xyz, floatInVec w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( Vector4 vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Set all elements of a quaternion to the same scalar value (scalar data contained in vector data type) + // + explicit inline Quat( floatInVec scalar ); + + // Set vector float data in a quaternion + // + explicit inline Quat( vec_float4 vf4 ); + + // Get vector float data from a quaternion + // + inline vec_float4 get128( ) const; + + // Assign one quaternion to another + // + inline Quat & operator =( Quat quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( Vector3 vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + + // Set the x element of a quaternion (scalar data contained in vector data type) + // + inline Quat & setX( floatInVec x ); + + // Set the y element of a quaternion (scalar data contained in vector data type) + // + inline Quat & setY( floatInVec y ); + + // Set the z element of a quaternion (scalar data contained in vector data type) + // + inline Quat & setZ( floatInVec z ); + + // Set the w element of a quaternion (scalar data contained in vector data type) + // + inline Quat & setW( floatInVec w ); + + // Get the x element of a quaternion + // + inline const floatInVec getX( ) const; + + // Get the y element of a quaternion + // + inline const floatInVec getY( ) const; + + // Get the z element of a quaternion + // + inline const floatInVec getZ( ) const; + + // Get the w element of a quaternion + // + inline const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a quaternion by index (scalar data contained in vector data type) + // + inline Quat & setElem( int idx, floatInVec value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline const floatInVec operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( Quat quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( Quat quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( Quat quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Multiply a quaternion by a scalar (scalar data contained in vector data type) + // + inline const Quat operator *( floatInVec scalar ) const; + + // Divide a quaternion by a scalar (scalar data contained in vector data type) + // + inline const Quat operator /( floatInVec scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( Quat quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( Quat quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( Quat quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + inline Quat & operator *=( floatInVec scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + inline Quat & operator /=( floatInVec scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( Vector3 unitVec0, Vector3 unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, Vector3 unitVec ); + + // Construct a quaternion to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static inline const Quat rotation( floatInVec radians, Vector3 unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + + // Construct a quaternion to rotate around the x axis (scalar data contained in vector data type) + // + static inline const Quat rotationX( floatInVec radians ); + + // Construct a quaternion to rotate around the y axis (scalar data contained in vector data type) + // + static inline const Quat rotationY( floatInVec radians ); + + // Construct a quaternion to rotate around the z axis (scalar data contained in vector data type) + // + static inline const Quat rotationZ( floatInVec radians ); + +}; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, Quat quat ); + +// Multiply a quaternion by a scalar (scalar data contained in vector data type) +// +inline const Quat operator *( floatInVec scalar, Quat quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( Quat quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( Quat unitQuat, Vector3 vec ); + +// Compute the dot product of two quaternions +// +inline const floatInVec dot( Quat quat0, Quat quat1 ); + +// Compute the norm of a quaternion +// +inline const floatInVec norm( Quat quat ); + +// Compute the length of a quaternion +// +inline const floatInVec length( Quat quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( Quat quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, Quat quat0, Quat quat1 ); + +// Linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( floatInVec t, Quat quat0, Quat quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 ); + +// Spherical linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( floatInVec t, Quat unitQuat0, Quat unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 ); + +// Spherical quadrangle interpolation (scalar data contained in vector data type) +// +inline const Quat squad( floatInVec t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Quat select( Quat quat0, Quat quat1, bool select1 ); + +// Conditionally select between two quaternions (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Quat select( Quat quat0, Quat quat1, boolInVec select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Quat quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Quat quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( Vector3 col0, Vector3 col1, Vector3 col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( Quat unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Set all elements of a 3x3 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit inline Matrix3( floatInVec scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( Vector3 col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( Vector3 col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( Vector3 col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, Vector3 vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, Vector3 vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Set the element of a 3x3 matrix referred to by column and row indices (scalar data contained in vector data type) + // + inline Matrix3 & setElem( int col, int row, floatInVec val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline const floatInVec getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) + // + inline const Matrix3 operator *( floatInVec scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( Vector3 vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + inline Matrix3 & operator *=( floatInVec scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static inline const Matrix3 rotationX( floatInVec radians ); + + // Construct a 3x3 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static inline const Matrix3 rotationY( floatInVec radians ); + + // Construct a 3x3 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static inline const Matrix3 rotationZ( floatInVec radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, Vector3 unitVec ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static inline const Matrix3 rotation( floatInVec radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( Quat unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( Vector3 scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) +// +inline const Matrix3 operator *( floatInVec scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( Vector3 scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline const floatInVec determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +// Conditionally select between two 3x3 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, boolInVec select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( Vector4 col0, Vector4 col1, Vector4 col2, Vector4 col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, Vector3 translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( Quat unitQuat, Vector3 translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Set all elements of a 4x4 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit inline Matrix4( floatInVec scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( Vector3 translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( Vector4 col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( Vector4 col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( Vector4 col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( Vector4 col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, Vector4 vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, Vector4 vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Set the element of a 4x4 matrix referred to by column and row indices (scalar data contained in vector data type) + // + inline Matrix4 & setElem( int col, int row, floatInVec val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline const floatInVec getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) + // + inline const Matrix4 operator *( floatInVec scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( Vector4 vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( Vector3 vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( Point3 pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + inline Matrix4 & operator *=( floatInVec scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static inline const Matrix4 rotationX( floatInVec radians ); + + // Construct a 4x4 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static inline const Matrix4 rotationY( floatInVec radians ); + + // Construct a 4x4 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static inline const Matrix4 rotationZ( floatInVec radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, Vector3 unitVec ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static inline const Matrix4 rotation( floatInVec radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( Quat unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( Vector3 scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( Vector3 translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( Point3 eyePos, Point3 lookAtPos, Vector3 upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) +// +inline const Matrix4 operator *( floatInVec scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( Vector3 scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline const floatInVec determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +// Conditionally select between two 4x4 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, boolInVec select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( Vector3 col0, Vector3 col1, Vector3 col2, Vector3 col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, Vector3 translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( Quat unitQuat, Vector3 translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value (scalar data contained in vector data type) + // + explicit inline Transform3( floatInVec scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( Vector3 translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( Vector3 col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( Vector3 col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( Vector3 col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( Vector3 col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, Vector3 vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, Vector4 vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Set the element of a 3x4 transformation matrix referred to by column and row indices (scalar data contained in vector data type) + // + inline Transform3 & setElem( int col, int row, floatInVec val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline const floatInVec getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( Vector3 vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( Point3 pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x axis (scalar data contained in vector data type) + // + static inline const Transform3 rotationX( floatInVec radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis (scalar data contained in vector data type) + // + static inline const Transform3 rotationY( floatInVec radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis (scalar data contained in vector data type) + // + static inline const Transform3 rotationZ( floatInVec radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, Vector3 unitVec ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static inline const Transform3 rotation( floatInVec radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( Quat unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( Vector3 scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( Vector3 translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( Vector3 scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +// Conditionally select between two 3x4 transformation matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, boolInVec select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_soa.h b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_soa.h new file mode 100644 index 000000000..f580153f0 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_soa.h @@ -0,0 +1,1919 @@ +/* + 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_SOA_CPP_H +#define _VECTORMATH_SOA_CPP_H + +#include +#include +#include "vectormath_aos.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Soa { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A set of four 3-D vectors in structure-of-arrays format +// +class Vector3 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( vec_float4 x, vec_float4 y, vec_float4 z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( vec_float4 scalar ); + + // Replicate an AoS 3-D vector + // + inline Vector3( Aos::Vector3 vec ); + + // Insert four AoS 3-D vectors + // + inline Vector3( Aos::Vector3 vec0, Aos::Vector3 vec1, Aos::Vector3 vec2, Aos::Vector3 vec3 ); + + // Extract four AoS 3-D vectors + // + inline void get4Aos( Aos::Vector3 & result0, Aos::Vector3 & result1, Aos::Vector3 & result2, Aos::Vector3 & result3 ) const; + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( vec_float4 x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( vec_float4 y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( vec_float4 z ); + + // Get the x element of a 3-D vector + // + inline vec_float4 getX( ) const; + + // Get the y element of a 3-D vector + // + inline vec_float4 getY( ) const; + + // Get the z element of a 3-D vector + // + inline vec_float4 getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, vec_float4 value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( vec_float4 scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( vec_float4 scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( vec_float4 scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline vec_float4 maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline vec_float4 minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline vec_float4 sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline vec_float4 dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline vec_float4 lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline vec_float4 length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( vec_float4 t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( vec_float4 t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, vec_uint4 select1 ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +inline void loadXYZArray( Vector3 & vec, const vec_float4 * threeQuads ); + +// Store four slots of an SoA 3-D vector in three quadwords +// +inline void storeXYZArray( const Vector3 & vec, vec_float4 * threeQuads ); + +// Store eight slots of two SoA 3-D vectors as half-floats +// +inline void storeHalfFloats( const Vector3 & vec0, const Vector3 & vec1, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A set of four 4-D vectors in structure-of-arrays format +// +class Vector4 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + vec_float4 mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, vec_float4 w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( vec_float4 scalar ); + + // Replicate an AoS 4-D vector + // + inline Vector4( Aos::Vector4 vec ); + + // Insert four AoS 4-D vectors + // + inline Vector4( Aos::Vector4 vec0, Aos::Vector4 vec1, Aos::Vector4 vec2, Aos::Vector4 vec3 ); + + // Extract four AoS 4-D vectors + // + inline void get4Aos( Aos::Vector4 & result0, Aos::Vector4 & result1, Aos::Vector4 & result2, Aos::Vector4 & result3 ) const; + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( vec_float4 x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( vec_float4 y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( vec_float4 z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( vec_float4 w ); + + // Get the x element of a 4-D vector + // + inline vec_float4 getX( ) const; + + // Get the y element of a 4-D vector + // + inline vec_float4 getY( ) const; + + // Get the z element of a 4-D vector + // + inline vec_float4 getZ( ) const; + + // Get the w element of a 4-D vector + // + inline vec_float4 getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, vec_float4 value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( vec_float4 scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( vec_float4 scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( vec_float4 scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline vec_float4 maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline vec_float4 minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline vec_float4 sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline vec_float4 dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline vec_float4 lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline vec_float4 length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( vec_float4 t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( vec_float4 t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, vec_uint4 select1 ); + +// Store four slots of an SoA 4-D vector as half-floats +// +inline void storeHalfFloats( const Vector4 & vec, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A set of four 3-D points in structure-of-arrays format +// +class Point3 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( vec_float4 x, vec_float4 y, vec_float4 z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( vec_float4 scalar ); + + // Replicate an AoS 3-D point + // + inline Point3( Aos::Point3 pnt ); + + // Insert four AoS 3-D points + // + inline Point3( Aos::Point3 pnt0, Aos::Point3 pnt1, Aos::Point3 pnt2, Aos::Point3 pnt3 ); + + // Extract four AoS 3-D points + // + inline void get4Aos( Aos::Point3 & result0, Aos::Point3 & result1, Aos::Point3 & result2, Aos::Point3 & result3 ) const; + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( vec_float4 x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( vec_float4 y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( vec_float4 z ); + + // Get the x element of a 3-D point + // + inline vec_float4 getX( ) const; + + // Get the y element of a 3-D point + // + inline vec_float4 getY( ) const; + + // Get the z element of a 3-D point + // + inline vec_float4 getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, vec_float4 value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +}; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline vec_float4 maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline vec_float4 minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline vec_float4 sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, vec_float4 scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline vec_float4 projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline vec_float4 distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline vec_float4 distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline vec_float4 distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline vec_float4 dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( vec_float4 t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, vec_uint4 select1 ); + +// Load four three-float 3-D points, stored in three quadwords +// +inline void loadXYZArray( Point3 & pnt, const vec_float4 * threeQuads ); + +// Store four slots of an SoA 3-D point in three quadwords +// +inline void storeXYZArray( const Point3 & pnt, vec_float4 * threeQuads ); + +// Store eight slots of two SoA 3-D points as half-floats +// +inline void storeHalfFloats( const Point3 & pnt0, const Point3 & pnt1, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A set of four quaternions in structure-of-arrays format +// +class Quat +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + vec_float4 mW; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, vec_float4 w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( vec_float4 scalar ); + + // Replicate an AoS quaternion + // + inline Quat( Aos::Quat quat ); + + // Insert four AoS quaternions + // + inline Quat( Aos::Quat quat0, Aos::Quat quat1, Aos::Quat quat2, Aos::Quat quat3 ); + + // Extract four AoS quaternions + // + inline void get4Aos( Aos::Quat & result0, Aos::Quat & result1, Aos::Quat & result2, Aos::Quat & result3 ) const; + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( vec_float4 x ); + + // Set the y element of a quaternion + // + inline Quat & setY( vec_float4 y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( vec_float4 z ); + + // Set the w element of a quaternion + // + inline Quat & setW( vec_float4 w ); + + // Get the x element of a quaternion + // + inline vec_float4 getX( ) const; + + // Get the y element of a quaternion + // + inline vec_float4 getY( ) const; + + // Get the z element of a quaternion + // + inline vec_float4 getZ( ) const; + + // Get the w element of a quaternion + // + inline vec_float4 getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, vec_float4 value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( vec_float4 scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( vec_float4 scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( vec_float4 radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( vec_float4 radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( vec_float4 radians ); + +}; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( vec_float4 scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline vec_float4 dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline vec_float4 norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline vec_float4 length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( vec_float4 t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Quat select( const Quat & quat0, const Quat & quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A set of four 3x3 matrices in structure-of-arrays format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( vec_float4 scalar ); + + // Replicate an AoS 3x3 matrix + // + inline Matrix3( const Aos::Matrix3 & mat ); + + // Insert four AoS 3x3 matrices + // + inline Matrix3( const Aos::Matrix3 & mat0, const Aos::Matrix3 & mat1, const Aos::Matrix3 & mat2, const Aos::Matrix3 & mat3 ); + + // Extract four AoS 3x3 matrices + // + inline void get4Aos( Aos::Matrix3 & result0, Aos::Matrix3 & result1, Aos::Matrix3 & result2, Aos::Matrix3 & result3 ) const; + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( vec_float4 scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( vec_float4 scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline vec_float4 determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A set of four 4x4 matrices in structure-of-arrays format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( vec_float4 scalar ); + + // Replicate an AoS 4x4 matrix + // + inline Matrix4( const Aos::Matrix4 & mat ); + + // Insert four AoS 4x4 matrices + // + inline Matrix4( const Aos::Matrix4 & mat0, const Aos::Matrix4 & mat1, const Aos::Matrix4 & mat2, const Aos::Matrix4 & mat3 ); + + // Extract four AoS 4x4 matrices + // + inline void get4Aos( Aos::Matrix4 & result0, Aos::Matrix4 & result1, Aos::Matrix4 & result2, Aos::Matrix4 & result3 ) const; + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( vec_float4 scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( vec_float4 scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline vec_float4 determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A set of four 3x4 transformation matrices in structure-of-arrays format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( vec_float4 scalar ); + + // Replicate an AoS 3x4 transformation matrix + // + inline Transform3( const Aos::Transform3 & tfrm ); + + // Insert four AoS 3x4 transformation matrices + // + inline Transform3( const Aos::Transform3 & tfrm0, const Aos::Transform3 & tfrm1, const Aos::Transform3 & tfrm2, const Aos::Transform3 & tfrm3 ); + + // Extract four AoS 3x4 transformation matrices + // + inline void get4Aos( Aos::Transform3 & result0, Aos::Transform3 & result1, Aos::Transform3 & result2, Aos::Transform3 & result3 ) const; + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Soa +} // namespace Vectormath + +#include "vec_soa.h" +#include "quat_soa.h" +#include "mat_soa.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos.h new file mode 100644 index 000000000..4e0d6ee5c --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos.h @@ -0,0 +1,1452 @@ +/* + 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_MAT_AOS_C_H +#define _VECTORMATH_MAT_AOS_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( &result->col0, &mat->col0 ); + vmathV3Copy( &result->col1, &mat->col1 ); + vmathV3Copy( &result->col2, &mat->col2 ); +} + +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); +} + +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat->x; + qy = unitQuat->y; + qz = unitQuat->z; + qw = unitQuat->w; + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + vmathV3MakeFromElems( &result->col0, ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + vmathV3MakeFromElems( &result->col1, ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + vmathV3MakeFromElems( &result->col2, ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV3GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV3GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV3GetElem( vec, 2 ) ); +} + +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathM3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, mat, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col0 ); +} + +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col1 ); +} + +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col2 ); +} + +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ) +{ + vmathV3Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ) +{ + vmathV3MakeFromElems( result, vmathV3GetElem( &mat->col0, row ), vmathV3GetElem( &mat->col1, row ), vmathV3GetElem( &mat->col2, row ) ); +} + +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + VmathMatrix3 tmpResult; + vmathV3MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x ); + vmathV3MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y ); + vmathV3MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z ); + vmathM3Copy( result, &tmpResult ); +} + +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + VmathVector3 tmp0, tmp1, tmp2; + float detinv; + vmathV3Cross( &tmp0, &mat->col1, &mat->col2 ); + vmathV3Cross( &tmp1, &mat->col2, &mat->col0 ); + vmathV3Cross( &tmp2, &mat->col0, &mat->col1 ); + detinv = ( 1.0f / vmathV3Dot( &mat->col2, &tmp2 ) ); + vmathV3MakeFromElems( &result->col0, ( tmp0.x * detinv ), ( tmp1.x * detinv ), ( tmp2.x * detinv ) ); + vmathV3MakeFromElems( &result->col1, ( tmp0.y * detinv ), ( tmp1.y * detinv ), ( tmp2.y * detinv ) ); + vmathV3MakeFromElems( &result->col2, ( tmp0.z * detinv ), ( tmp1.z * detinv ), ( tmp2.z * detinv ) ); +} + +static inline float vmathM3Determinant( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0; + vmathV3Cross( &tmpV3_0, &mat->col0, &mat->col1 ); + return vmathV3Dot( &mat->col2, &tmpV3_0 ); +} + +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Add( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Sub( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Neg( &result->col0, &mat->col0 ); + vmathV3Neg( &result->col1, &mat->col1 ); + vmathV3Neg( &result->col2, &mat->col2 ); +} + +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3AbsPerElem( &result->col0, &mat->col0 ); + vmathV3AbsPerElem( &result->col1, &mat->col1 ); + vmathV3AbsPerElem( &result->col2, &mat->col2 ); +} + +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV3ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV3ScalarMul( &result->col2, &mat->col2, scalar ); +} + +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ) +{ + float tmpX, tmpY, tmpZ; + tmpX = ( ( ( mat->col0.x * vec->x ) + ( mat->col1.x * vec->y ) ) + ( mat->col2.x * vec->z ) ); + tmpY = ( ( ( mat->col0.y * vec->x ) + ( mat->col1.y * vec->y ) ) + ( mat->col2.y * vec->z ) ); + tmpZ = ( ( ( mat->col0.z * vec->x ) + ( mat->col1.z * vec->y ) ) + ( mat->col2.z * vec->z ) ); + vmathV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + VmathMatrix3 tmpResult; + vmathM3MulV3( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM3MulV3( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM3MulV3( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM3Copy( result, &tmpResult ); +} + +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeFromElems( &result->col1, 0.0f, c, s ); + vmathV3MakeFromElems( &result->col2, 0.0f, -s, c ); +} + +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeFromElems( &result->col0, c, 0.0f, -s ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeFromElems( &result->col2, s, 0.0f, c ); +} + +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeFromElems( &result->col0, c, s, 0.0f ); + vmathV3MakeFromElems( &result->col1, -s, c, 0.0f ); + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ->x ); + cX = cosf( radiansXYZ->x ); + sY = sinf( radiansXYZ->y ); + cY = cosf( radiansXYZ->y ); + sZ = sinf( radiansXYZ->z ); + cZ = cosf( radiansXYZ->z ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + vmathV3MakeFromElems( &result->col0, ( cZ * cY ), ( sZ * cY ), -sY ); + vmathV3MakeFromElems( &result->col1, ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ); + vmathV3MakeFromElems( &result->col2, ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ); +} + +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + vmathV3MakeFromElems( &result->col0, ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ); + vmathV3MakeFromElems( &result->col1, ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ); + vmathV3MakeFromElems( &result->col2, ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ); +} + +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + vmathM3MakeFromQ( result, unitQuat ); +} + +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ) +{ + vmathV3MakeFromElems( &result->col0, scaleVec->x, 0.0f, 0.0f ); + vmathV3MakeFromElems( &result->col1, 0.0f, scaleVec->y, 0.0f ); + vmathV3MakeFromElems( &result->col2, 0.0f, 0.0f, scaleVec->z ); +} + +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); +} + +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ) +{ + vmathV3MulPerElem( &result->col0, &mat->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &mat->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &mat->col2, scaleVec ); +} + +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV3Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV3Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathM3GetRow( &tmpV3_0, mat, 0 ); + vmathV3Print( &tmpV3_0 ); + vmathM3GetRow( &tmpV3_1, mat, 1 ); + vmathV3Print( &tmpV3_1 ); + vmathM3GetRow( &tmpV3_2, mat, 2 ); + vmathV3Print( &tmpV3_2 ); +} + +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM3Print( mat ); +} + +#endif + +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( &result->col0, &mat->col0 ); + vmathV4Copy( &result->col1, &mat->col1 ); + vmathV4Copy( &result->col2, &mat->col2 ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ) +{ + vmathV4MakeFromScalar( &result->col0, scalar ); + vmathV4MakeFromScalar( &result->col1, scalar ); + vmathV4MakeFromScalar( &result->col2, scalar ); + vmathV4MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, &mat->col3, 1.0f ); +} + +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *_col0, const VmathVector4 *_col1, const VmathVector4 *_col2, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col0, _col0 ); + vmathV4Copy( &result->col1, _col1 ); + vmathV4Copy( &result->col2, _col2 ); + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 mat; + vmathM3MakeFromQ( &mat, unitQuat ); + vmathV4MakeFromV3Scalar( &result->col0, &mat.col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat.col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat.col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *_col0 ) +{ + vmathV4Copy( &result->col0, _col0 ); +} + +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *_col1 ) +{ + vmathV4Copy( &result->col1, _col1 ); +} + +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *_col2 ) +{ + vmathV4Copy( &result->col2, _col2 ); +} + +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ) +{ + vmathV4Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ) +{ + vmathV4SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV4SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV4SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV4SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ) +{ + VmathVector4 tmpV3_0; + vmathM4GetCol( &tmpV3_0, result, col ); + vmathV4SetElem( &tmpV3_0, row, val ); + vmathM4SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ) +{ + VmathVector4 tmpV4_0; + vmathM4GetCol( &tmpV4_0, mat, col ); + return vmathV4GetElem( &tmpV4_0, row ); +} + +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col0 ); +} + +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col1 ); +} + +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col2 ); +} + +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col3 ); +} + +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ) +{ + vmathV4Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ) +{ + vmathV4MakeFromElems( result, vmathV4GetElem( &mat->col0, row ), vmathV4GetElem( &mat->col1, row ), vmathV4GetElem( &mat->col2, row ), vmathV4GetElem( &mat->col3, row ) ); +} + +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathMatrix4 tmpResult; + vmathV4MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x, mat->col3.x ); + vmathV4MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y, mat->col3.y ); + vmathV4MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z, mat->col3.z ); + vmathV4MakeFromElems( &tmpResult.col3, mat->col0.w, mat->col1.w, mat->col2.w, mat->col3.w ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathVector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + vmathV4SetX( &res0, ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + vmathV4SetY( &res0, ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + vmathV4SetZ( &res0, ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + vmathV4SetW( &res0, ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.x ) + ( mE * res0.y ) ) + ( mI * res0.z ) ) + ( mM * res0.w ) ) ); + vmathV4SetX( &res1, ( mI * tmp1 ) ); + vmathV4SetY( &res1, ( mM * tmp0 ) ); + vmathV4SetZ( &res1, ( mA * tmp1 ) ); + vmathV4SetW( &res1, ( mE * tmp0 ) ); + vmathV4SetX( &res3, ( mI * tmp3 ) ); + vmathV4SetY( &res3, ( mM * tmp2 ) ); + vmathV4SetZ( &res3, ( mA * tmp3 ) ); + vmathV4SetW( &res3, ( mE * tmp2 ) ); + vmathV4SetX( &res2, ( mI * tmp5 ) ); + vmathV4SetY( &res2, ( mM * tmp4 ) ); + vmathV4SetZ( &res2, ( mA * tmp5 ) ); + vmathV4SetW( &res2, ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + vmathV4SetX( &res2, ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.x ) ); + vmathV4SetY( &res2, ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.y ) ); + vmathV4SetZ( &res2, ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.z ) ); + vmathV4SetW( &res2, ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.w ) ); + vmathV4SetX( &res3, ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.x ) ); + vmathV4SetY( &res3, ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.y ) ); + vmathV4SetZ( &res3, ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.z ) ); + vmathV4SetW( &res3, ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.w ) ); + vmathV4SetX( &res1, ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.x ) ); + vmathV4SetY( &res1, ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.y ) ); + vmathV4SetZ( &res1, ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.z ) ); + vmathV4SetW( &res1, ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.w ) ); + vmathV4ScalarMul( &result->col0, &res0, detInv ); + vmathV4ScalarMul( &result->col1, &res1, detInv ); + vmathV4ScalarMul( &result->col2, &res2, detInv ); + vmathV4ScalarMul( &result->col3, &res3, detInv ); +} + +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3Inverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3OrthoInverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline float vmathM4Determinant( const VmathMatrix4 *mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Add( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Add( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Sub( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Sub( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Neg( &result->col0, &mat->col0 ); + vmathV4Neg( &result->col1, &mat->col1 ); + vmathV4Neg( &result->col2, &mat->col2 ); + vmathV4Neg( &result->col3, &mat->col3 ); +} + +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4AbsPerElem( &result->col0, &mat->col0 ); + vmathV4AbsPerElem( &result->col1, &mat->col1 ); + vmathV4AbsPerElem( &result->col2, &mat->col2 ); + vmathV4AbsPerElem( &result->col3, &mat->col3 ); +} + +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV4ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV4ScalarMul( &result->col2, &mat->col2, scalar ); + vmathV4ScalarMul( &result->col3, &mat->col3, scalar ); +} + +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( ( mat->col0.x * vec->x ) + ( mat->col1.x * vec->y ) ) + ( mat->col2.x * vec->z ) ) + ( mat->col3.x * vec->w ) ); + tmpY = ( ( ( ( mat->col0.y * vec->x ) + ( mat->col1.y * vec->y ) ) + ( mat->col2.y * vec->z ) ) + ( mat->col3.y * vec->w ) ); + tmpZ = ( ( ( ( mat->col0.z * vec->x ) + ( mat->col1.z * vec->y ) ) + ( mat->col2.z * vec->z ) ) + ( mat->col3.z * vec->w ) ); + tmpW = ( ( ( ( mat->col0.w * vec->x ) + ( mat->col1.w * vec->y ) ) + ( mat->col2.w * vec->z ) ) + ( mat->col3.w * vec->w ) ); + vmathV4MakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ) +{ + result->x = ( ( ( mat->col0.x * vec->x ) + ( mat->col1.x * vec->y ) ) + ( mat->col2.x * vec->z ) ); + result->y = ( ( ( mat->col0.y * vec->x ) + ( mat->col1.y * vec->y ) ) + ( mat->col2.y * vec->z ) ); + result->z = ( ( ( mat->col0.z * vec->x ) + ( mat->col1.z * vec->y ) ) + ( mat->col2.z * vec->z ) ); + result->w = ( ( ( mat->col0.w * vec->x ) + ( mat->col1.w * vec->y ) ) + ( mat->col2.w * vec->z ) ); +} + +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ) +{ + result->x = ( ( ( ( mat->col0.x * pnt->x ) + ( mat->col1.x * pnt->y ) ) + ( mat->col2.x * pnt->z ) ) + mat->col3.x ); + result->y = ( ( ( ( mat->col0.y * pnt->x ) + ( mat->col1.y * pnt->y ) ) + ( mat->col2.y * pnt->z ) ) + mat->col3.y ); + result->z = ( ( ( ( mat->col0.z * pnt->x ) + ( mat->col1.z * pnt->y ) ) + ( mat->col2.z * pnt->z ) ) + mat->col3.z ); + result->w = ( ( ( ( mat->col0.w * pnt->x ) + ( mat->col1.w * pnt->y ) ) + ( mat->col2.w * pnt->z ) ) + mat->col3.w ); +} + +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + VmathMatrix4 tmpResult; + vmathM4MulV4( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM4MulV4( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM4MulV4( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM4MulV4( &tmpResult.col3, mat0, &mat1->col3 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm1 ) +{ + VmathMatrix4 tmpResult; + VmathPoint3 tmpP3_0; + vmathM4MulV3( &tmpResult.col0, mat, &tfrm1->col0 ); + vmathM4MulV3( &tmpResult.col1, mat, &tfrm1->col1 ); + vmathM4MulV3( &tmpResult.col2, mat, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathM4MulP3( &tmpResult.col3, mat, &tmpP3_0 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4MulPerElem( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ) +{ + vmathV4SetXYZ( &result->col0, &mat3->col0 ); + vmathV4SetXYZ( &result->col1, &mat3->col1 ); + vmathV4SetXYZ( &result->col2, &mat3->col2 ); +} + +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( &result->col0, &mat->col0 ); + vmathV4GetXYZ( &result->col1, &mat->col1 ); + vmathV4GetXYZ( &result->col2, &mat->col2 ); +} + +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4SetXYZ( &result->col3, translateVec ); +} + +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( result, &mat->col3 ); +} + +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeFromElems( &result->col1, 0.0f, c, s, 0.0f ); + vmathV4MakeFromElems( &result->col2, 0.0f, -s, c, 0.0f ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV4MakeFromElems( &result->col0, c, 0.0f, -s, 0.0f ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeFromElems( &result->col2, s, 0.0f, c, 0.0f ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV4MakeFromElems( &result->col0, c, s, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col1, -s, c, 0.0f, 0.0f ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ->x ); + cX = cosf( radiansXYZ->x ); + sY = sinf( radiansXYZ->y ); + cY = cosf( radiansXYZ->y ); + sZ = sinf( radiansXYZ->z ); + cZ = cosf( radiansXYZ->z ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + vmathV4MakeFromElems( &result->col0, ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ); + vmathV4MakeFromElems( &result->col1, ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ); + vmathV4MakeFromElems( &result->col2, ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + vmathV4MakeFromElems( &result->col0, ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ); + vmathV4MakeFromElems( &result->col1, ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ); + vmathV4MakeFromElems( &result->col2, ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ) +{ + VmathTransform3 tmpT3_0; + vmathT3MakeRotationQ( &tmpT3_0, unitQuat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ) +{ + vmathV4MakeFromElems( &result->col0, scaleVec->x, 0.0f, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col1, 0.0f, scaleVec->y, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col2, 0.0f, 0.0f, scaleVec->z, 0.0f ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV4ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV4ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ) +{ + VmathVector4 scale4; + vmathV4MakeFromV3Scalar( &scale4, scaleVec, 1.0f ); + vmathV4MulPerElem( &result->col0, &mat->col0, &scale4 ); + vmathV4MulPerElem( &result->col1, &mat->col1, &scale4 ); + vmathV4MulPerElem( &result->col2, &mat->col2, &scale4 ); + vmathV4MulPerElem( &result->col3, &mat->col3, &scale4 ); +} + +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ) +{ + VmathMatrix4 m4EyeFrame; + VmathVector3 v3X, v3Y, v3Z, tmpV3_0, tmpV3_1; + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathV3Normalize( &v3Y, upVec ); + vmathP3Sub( &tmpV3_0, eyePos, lookAtPos ); + vmathV3Normalize( &v3Z, &tmpV3_0 ); + vmathV3Cross( &tmpV3_1, &v3Y, &v3Z ); + vmathV3Normalize( &v3X, &tmpV3_1 ); + vmathV3Cross( &v3Y, &v3Z, &v3X ); + vmathV4MakeFromV3( &tmpV4_0, &v3X ); + vmathV4MakeFromV3( &tmpV4_1, &v3Y ); + vmathV4MakeFromV3( &tmpV4_2, &v3Z ); + vmathV4MakeFromP3( &tmpV4_3, eyePos ); + vmathM4MakeFromCols( &m4EyeFrame, &tmpV4_0, &tmpV4_1, &tmpV4_2, &tmpV4_3 ); + vmathM4OrthoInverse( result, &m4EyeFrame ); +} + +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + vmathV4MakeFromElems( &result->col0, ( f / aspect ), 0.0f, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col1, 0.0f, f, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col2, 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ); + vmathV4MakeFromElems( &result->col3, 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ); +} + +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + vmathV4MakeFromElems( &result->col0, ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col1, 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col2, ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ); + vmathV4MakeFromElems( &result->col3, 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ); +} + +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + vmathV4MakeFromElems( &result->col0, ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col1, 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ); + vmathV4MakeFromElems( &result->col2, 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ); + vmathV4MakeFromElems( &result->col3, ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ); +} + +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ) +{ + vmathV4Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV4Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV4Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); + vmathV4Select( &result->col3, &mat0->col3, &mat1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print( const VmathMatrix4 *mat ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathM4GetRow( &tmpV4_0, mat, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathM4GetRow( &tmpV4_1, mat, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathM4GetRow( &tmpV4_2, mat, 2 ); + vmathV4Print( &tmpV4_2 ); + vmathM4GetRow( &tmpV4_3, mat, 3 ); + vmathV4Print( &tmpV4_3 ); +} + +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM4Print( mat ); +} + +#endif + +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); + vmathV3MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ) +{ + vmathT3SetUpper3x3( result, tfrm ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 tmpM3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathT3SetUpper3x3( result, &tmpM3_0 ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV3SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathT3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, tfrm, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col0 ); +} + +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col1 ); +} + +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col2 ); +} + +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ) +{ + vmathV3Copy( result, (&tfrm->col0 + col) ); +} + +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ) +{ + vmathV4MakeFromElems( result, vmathV3GetElem( &tfrm->col0, row ), vmathV3GetElem( &tfrm->col1, row ), vmathV3GetElem( &tfrm->col2, row ), vmathV3GetElem( &tfrm->col3, row ) ); +} + +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + VmathVector3 tmp0, tmp1, tmp2, inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + float detinv; + vmathV3Cross( &tmp0, &tfrm->col1, &tfrm->col2 ); + vmathV3Cross( &tmp1, &tfrm->col2, &tfrm->col0 ); + vmathV3Cross( &tmp2, &tfrm->col0, &tfrm->col1 ); + detinv = ( 1.0f / vmathV3Dot( &tfrm->col2, &tmp2 ) ); + vmathV3MakeFromElems( &inv0, ( tmp0.x * detinv ), ( tmp1.x * detinv ), ( tmp2.x * detinv ) ); + vmathV3MakeFromElems( &inv1, ( tmp0.y * detinv ), ( tmp1.y * detinv ), ( tmp2.y * detinv ) ); + vmathV3MakeFromElems( &inv2, ( tmp0.z * detinv ), ( tmp1.z * detinv ), ( tmp2.z * detinv ) ); + vmathV3Copy( &result->col0, &inv0 ); + vmathV3Copy( &result->col1, &inv1 ); + vmathV3Copy( &result->col2, &inv2 ); + vmathV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + VmathVector3 inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + vmathV3MakeFromElems( &inv0, tfrm->col0.x, tfrm->col1.x, tfrm->col2.x ); + vmathV3MakeFromElems( &inv1, tfrm->col0.y, tfrm->col1.y, tfrm->col2.y ); + vmathV3MakeFromElems( &inv2, tfrm->col0.z, tfrm->col1.z, tfrm->col2.z ); + vmathV3Copy( &result->col0, &inv0 ); + vmathV3Copy( &result->col1, &inv1 ); + vmathV3Copy( &result->col2, &inv2 ); + vmathV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3AbsPerElem( &result->col0, &tfrm->col0 ); + vmathV3AbsPerElem( &result->col1, &tfrm->col1 ); + vmathV3AbsPerElem( &result->col2, &tfrm->col2 ); + vmathV3AbsPerElem( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ) +{ + float tmpX, tmpY, tmpZ; + tmpX = ( ( ( tfrm->col0.x * vec->x ) + ( tfrm->col1.x * vec->y ) ) + ( tfrm->col2.x * vec->z ) ); + tmpY = ( ( ( tfrm->col0.y * vec->x ) + ( tfrm->col1.y * vec->y ) ) + ( tfrm->col2.y * vec->z ) ); + tmpZ = ( ( ( tfrm->col0.z * vec->x ) + ( tfrm->col1.z * vec->y ) ) + ( tfrm->col2.z * vec->z ) ); + vmathV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ) +{ + float tmpX, tmpY, tmpZ; + tmpX = ( ( ( ( tfrm->col0.x * pnt->x ) + ( tfrm->col1.x * pnt->y ) ) + ( tfrm->col2.x * pnt->z ) ) + tfrm->col3.x ); + tmpY = ( ( ( ( tfrm->col0.y * pnt->x ) + ( tfrm->col1.y * pnt->y ) ) + ( tfrm->col2.y * pnt->z ) ) + tfrm->col3.y ); + tmpZ = ( ( ( ( tfrm->col0.z * pnt->x ) + ( tfrm->col1.z * pnt->y ) ) + ( tfrm->col2.z * pnt->z ) ) + tfrm->col3.z ); + vmathP3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + VmathTransform3 tmpResult; + VmathPoint3 tmpP3_0, tmpP3_1; + vmathT3MulV3( &tmpResult.col0, tfrm0, &tfrm1->col0 ); + vmathT3MulV3( &tmpResult.col1, tfrm0, &tfrm1->col1 ); + vmathT3MulV3( &tmpResult.col2, tfrm0, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathT3MulP3( &tmpP3_1, tfrm0, &tmpP3_0 ); + vmathV3MakeFromP3( &tmpResult.col3, &tmpP3_1 ); + vmathT3Copy( result, &tmpResult ); +} + +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + vmathV3MulPerElem( &result->col0, &tfrm0->col0, &tfrm1->col0 ); + vmathV3MulPerElem( &result->col1, &tfrm0->col1, &tfrm1->col1 ); + vmathV3MulPerElem( &result->col2, &tfrm0->col2, &tfrm1->col2 ); + vmathV3MulPerElem( &result->col3, &tfrm0->col3, &tfrm1->col3 ); +} + +static inline void vmathT3MakeIdentity( VmathTransform3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); +} + +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ) +{ + vmathM3MakeFromCols( result, &tfrm->col0, &tfrm->col1, &tfrm->col2 ); +} + +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeFromElems( &result->col1, 0.0f, c, s ); + vmathV3MakeFromElems( &result->col2, 0.0f, -s, c ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeFromElems( &result->col0, c, 0.0f, -s ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeFromElems( &result->col2, s, 0.0f, c ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + vmathV3MakeFromElems( &result->col0, c, s, 0.0f ); + vmathV3MakeFromElems( &result->col1, -s, c, 0.0f ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ->x ); + cX = cosf( radiansXYZ->x ); + sY = sinf( radiansXYZ->y ); + cY = cosf( radiansXYZ->y ); + sZ = sinf( radiansXYZ->z ); + cZ = cosf( radiansXYZ->z ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + vmathV3MakeFromElems( &result->col0, ( cZ * cY ), ( sZ * cY ), -sY ); + vmathV3MakeFromElems( &result->col1, ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ); + vmathV3MakeFromElems( &result->col2, ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeRotationAxis( &tmpM3_0, radians, unitVec ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ) +{ + vmathV3MakeFromElems( &result->col0, scaleVec->x, 0.0f, 0.0f ); + vmathV3MakeFromElems( &result->col1, 0.0f, scaleVec->y, 0.0f ); + vmathV3MakeFromElems( &result->col2, 0.0f, 0.0f, scaleVec->z ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &tfrm->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &tfrm->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &tfrm->col2, vmathV3GetZ( scaleVec ) ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ) +{ + vmathV3MulPerElem( &result->col0, &tfrm->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &tfrm->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &tfrm->col2, scaleVec ); + vmathV3MulPerElem( &result->col3, &tfrm->col3, scaleVec ); +} + +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &tfrm0->col0, &tfrm1->col0, select1 ); + vmathV3Select( &result->col1, &tfrm0->col1, &tfrm1->col1, select1 ); + vmathV3Select( &result->col2, &tfrm0->col2, &tfrm1->col2, select1 ); + vmathV3Select( &result->col3, &tfrm0->col3, &tfrm1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print( const VmathTransform3 *tfrm ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2; + vmathT3GetRow( &tmpV4_0, tfrm, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathT3GetRow( &tmpV4_1, tfrm, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathT3GetRow( &tmpV4_2, tfrm, 2 ); + vmathV4Print( &tmpV4_2 ); +} + +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ) +{ + printf("%s:\n", name); + vmathT3Print( tfrm ); +} + +#endif + +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm->col0.x; + yx = tfrm->col0.y; + zx = tfrm->col0.z; + xy = tfrm->col1.x; + yy = tfrm->col1.y; + zy = tfrm->col1.z; + xz = tfrm->col2.x; + yz = tfrm->col2.y; + zz = tfrm->col2.z; + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + result->x = qx; + result->y = qy; + result->z = qz; + result->w = qw; +} + +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *tfrm0, const VmathVector3 *tfrm1 ) +{ + vmathV3ScalarMul( &result->col0, tfrm0, vmathV3GetX( tfrm1 ) ); + vmathV3ScalarMul( &result->col1, tfrm0, vmathV3GetY( tfrm1 ) ); + vmathV3ScalarMul( &result->col2, tfrm0, vmathV3GetZ( tfrm1 ) ); +} + +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *tfrm0, const VmathVector4 *tfrm1 ) +{ + vmathV4ScalarMul( &result->col0, tfrm0, vmathV4GetX( tfrm1 ) ); + vmathV4ScalarMul( &result->col1, tfrm0, vmathV4GetY( tfrm1 ) ); + vmathV4ScalarMul( &result->col2, tfrm0, vmathV4GetZ( tfrm1 ) ); + vmathV4ScalarMul( &result->col3, tfrm0, vmathV4GetW( tfrm1 ) ); +} + +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + float tmpX, tmpY, tmpZ; + tmpX = ( ( ( vec->x * mat->col0.x ) + ( vec->y * mat->col0.y ) ) + ( vec->z * mat->col0.z ) ); + tmpY = ( ( ( vec->x * mat->col1.x ) + ( vec->y * mat->col1.y ) ) + ( vec->z * mat->col1.z ) ); + tmpZ = ( ( ( vec->x * mat->col2.x ) + ( vec->y * mat->col2.y ) ) + ( vec->z * mat->col2.z ) ); + vmathV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ) +{ + vmathV3MakeFromElems( &result->col0, 0.0f, vec->z, -vec->y ); + vmathV3MakeFromElems( &result->col1, -vec->z, 0.0f, vec->x ); + vmathV3MakeFromElems( &result->col2, vec->y, -vec->x, 0.0f ); +} + +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathV3Cross( &tmpV3_0, vec, &mat->col0 ); + vmathV3Cross( &tmpV3_1, vec, &mat->col1 ); + vmathV3Cross( &tmpV3_2, vec, &mat->col2 ); + vmathM3MakeFromCols( result, &tmpV3_0, &tmpV3_1, &tmpV3_2 ); +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos_v.h new file mode 100644 index 000000000..270ffcb50 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/mat_aos_v.h @@ -0,0 +1,1006 @@ +/* + 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_MAT_AOS_V_C_H +#define _VECTORMATH_MAT_AOS_V_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ) +{ + VmathMatrix3 result; + vmathM3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeFromQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2 ) +{ + VmathMatrix3 result; + vmathM3MakeFromCols(&result, &_col0, &_col1, &_col2); + return result; +} + +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 _col0 ) +{ + vmathM3SetCol0(result, &_col0); +} + +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 _col1 ) +{ + vmathM3SetCol1(result, &_col1); +} + +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 _col2 ) +{ + vmathM3SetCol2(result, &_col2); +} + +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ) +{ + vmathM3SetCol(result, col, &vec); +} + +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ) +{ + vmathM3SetRow(result, row, &vec); +} + +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ) +{ + vmathM3SetElem(result, col, row, val); +} + +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ) +{ + return vmathM3GetElem(&mat, col, row); +} + +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol0(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol1(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol2(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ) +{ + VmathVector3 result; + vmathM3GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ) +{ + VmathVector3 result; + vmathM3GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Inverse(&result, &mat); + return result; +} + +static inline float vmathM3Determinant_V( VmathMatrix3 mat ) +{ + return vmathM3Determinant(&mat); +} + +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Neg(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ) +{ + VmathMatrix3 result; + vmathM3ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathM3MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MakeIdentity_V( ) +{ + VmathMatrix3 result; + vmathM3MakeIdentity(&result); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix3 result; + vmathM3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ) +{ + VmathMatrix3 result; + vmathM3Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print_V( VmathMatrix3 mat ) +{ + vmathM3Print(&mat); +} + +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ) +{ + vmathM3Prints(&mat, name); +} + +#endif + +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ) +{ + VmathMatrix4 result; + vmathM4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ) +{ + VmathMatrix4 result; + vmathM4MakeFromT3(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 _col0, VmathVector4 _col1, VmathVector4 _col2, VmathVector4 _col3 ) +{ + VmathMatrix4 result; + vmathM4MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromM3V3(&result, &mat, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 _col0 ) +{ + vmathM4SetCol0(result, &_col0); +} + +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 _col1 ) +{ + vmathM4SetCol1(result, &_col1); +} + +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 _col2 ) +{ + vmathM4SetCol2(result, &_col2); +} + +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 _col3 ) +{ + vmathM4SetCol3(result, &_col3); +} + +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ) +{ + vmathM4SetCol(result, col, &vec); +} + +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ) +{ + vmathM4SetRow(result, row, &vec); +} + +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ) +{ + vmathM4SetElem(result, col, row, val); +} + +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ) +{ + return vmathM4GetElem(&mat, col, row); +} + +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol0(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol1(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol2(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol3(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ) +{ + VmathVector4 result; + vmathM4GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ) +{ + VmathVector4 result; + vmathM4GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Inverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AffineInverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4OrthoInverse(&result, &mat); + return result; +} + +static inline float vmathM4Determinant_V( VmathMatrix4 mat ) +{ + return vmathM4Determinant(&mat); +} + +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Neg(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ) +{ + VmathMatrix4 result; + vmathM4ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ) +{ + VmathVector4 result; + vmathM4MulV4(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ) +{ + VmathVector4 result; + vmathM4MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathM4MulP3(&result, &mat, &pnt); + return result; +} + +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm1 ) +{ + VmathMatrix4 result; + vmathM4MulT3(&result, &mat, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MakeIdentity_V( ) +{ + VmathMatrix4 result; + vmathM4MakeIdentity(&result); + return result; +} + +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ) +{ + vmathM4SetUpper3x3(result, &mat3); +} + +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ) +{ + VmathMatrix3 result; + vmathM4GetUpper3x3(&result, &mat); + return result; +} + +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ) +{ + vmathM4SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ) +{ + VmathVector3 result; + vmathM4GetTranslation(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix4 result; + vmathM4MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix4 result; + vmathM4MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ) +{ + VmathMatrix4 result; + vmathM4MakeLookAt(&result, &eyePos, &lookAtPos, &upVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakePerspective(&result, fovyRadians, aspect, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeFrustum(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeOrthographic(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ) +{ + VmathMatrix4 result; + vmathM4Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print_V( VmathMatrix4 mat ) +{ + vmathM4Print(&mat); +} + +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ) +{ + vmathM4Prints(&mat, name); +} + +#endif + +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ) +{ + VmathTransform3 result; + vmathT3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2, VmathVector3 _col3 ) +{ + VmathTransform3 result; + vmathT3MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromM3V3(&result, &tfrm, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 _col0 ) +{ + vmathT3SetCol0(result, &_col0); +} + +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 _col1 ) +{ + vmathT3SetCol1(result, &_col1); +} + +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 _col2 ) +{ + vmathT3SetCol2(result, &_col2); +} + +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 _col3 ) +{ + vmathT3SetCol3(result, &_col3); +} + +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ) +{ + vmathT3SetCol(result, col, &vec); +} + +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ) +{ + vmathT3SetRow(result, row, &vec); +} + +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ) +{ + vmathT3SetElem(result, col, row, val); +} + +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ) +{ + return vmathT3GetElem(&tfrm, col, row); +} + +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol0(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol1(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol2(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol3(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ) +{ + VmathVector3 result; + vmathT3GetCol(&result, &tfrm, col); + return result; +} + +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ) +{ + VmathVector4 result; + vmathT3GetRow(&result, &tfrm, row); + return result; +} + +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3Inverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3OrthoInverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3AbsPerElem(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ) +{ + VmathVector3 result; + vmathT3MulV3(&result, &tfrm, &vec); + return result; +} + +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathT3MulP3(&result, &tfrm, &pnt); + return result; +} + +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3Mul(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3MulPerElem(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MakeIdentity_V( ) +{ + VmathTransform3 result; + vmathT3MakeIdentity(&result); + return result; +} + +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 tfrm ) +{ + vmathT3SetUpper3x3(result, &tfrm); +} + +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ) +{ + VmathMatrix3 result; + vmathT3GetUpper3x3(&result, &tfrm); + return result; +} + +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ) +{ + vmathT3SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetTranslation(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationX(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationY(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathTransform3 result; + vmathT3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathTransform3 result; + vmathT3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathTransform3 result; + vmathT3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3AppendScale(&result, &tfrm, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3PrependScale(&result, &scaleVec, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ) +{ + VmathTransform3 result; + vmathT3Select(&result, &tfrm0, &tfrm1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print_V( VmathTransform3 tfrm ) +{ + vmathT3Print(&tfrm); +} + +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ) +{ + vmathT3Prints(&tfrm, name); +} + +#endif + +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 tfrm ) +{ + VmathQuat result; + vmathQMakeFromM3(&result, &tfrm); + return result; +} + +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 tfrm0, VmathVector3 tfrm1 ) +{ + VmathMatrix3 result; + vmathV3Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 tfrm0, VmathVector4 tfrm1 ) +{ + VmathMatrix4 result; + vmathV4Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathV3RowMul(&result, &vec, &mat); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ) +{ + VmathMatrix3 result; + vmathV3CrossMatrix(&result, &vec); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathV3CrossMatrixMul(&result, &vec, &mat); + return result; +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos.h new file mode 100644 index 000000000..c886ab669 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos.h @@ -0,0 +1,368 @@ +/* + 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_C_H +#define _VECTORMATH_QUAT_AOS_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathQMakeFromElems( VmathQuat *result, float _x, float _y, float _z, float _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float _w ) +{ + vmathQSetXYZ( result, xyz ); + vmathQSetW( result, _w ); +} + +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathQMakeIdentity( VmathQuat *result ) +{ + vmathQMakeFromElems( result, 0.0f, 0.0f, 0.0f, 1.0f ); +} + +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + VmathQuat tmpQ_0, tmpQ_1; + vmathQSub( &tmpQ_0, quat1, quat0 ); + vmathQScalarMul( &tmpQ_1, &tmpQ_0, t ); + vmathQAdd( result, quat0, &tmpQ_1 ); +} + +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ) +{ + VmathQuat start, tmpQ_0, tmpQ_1; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = vmathQDot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + vmathQNeg( &start, unitQuat0 ); + } else { + vmathQCopy( &start, unitQuat0 ); + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + vmathQScalarMul( &tmpQ_0, &start, scale0 ); + vmathQScalarMul( &tmpQ_1, unitQuat1, scale1 ); + vmathQAdd( result, &tmpQ_0, &tmpQ_1 ); +} + +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ) +{ + VmathQuat tmp0, tmp1; + vmathQSlerp( &tmp0, t, unitQuat0, unitQuat3 ); + vmathQSlerp( &tmp1, t, unitQuat1, unitQuat2 ); + vmathQSlerp( result, ( ( 2.0f * t ) * ( 1.0f - t ) ), &tmp0, &tmp1 ); +} + +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ) +{ + vmathV3MakeFromElems( result, quat->x, quat->y, quat->z ); +} + +static inline void vmathQSetX( VmathQuat *result, float _x ) +{ + result->x = _x; +} + +static inline float vmathQGetX( const VmathQuat *quat ) +{ + return quat->x; +} + +static inline void vmathQSetY( VmathQuat *result, float _y ) +{ + result->y = _y; +} + +static inline float vmathQGetY( const VmathQuat *quat ) +{ + return quat->y; +} + +static inline void vmathQSetZ( VmathQuat *result, float _z ) +{ + result->z = _z; +} + +static inline float vmathQGetZ( const VmathQuat *quat ) +{ + return quat->z; +} + +static inline void vmathQSetW( VmathQuat *result, float _w ) +{ + result->w = _w; +} + +static inline float vmathQGetW( const VmathQuat *quat ) +{ + return quat->w; +} + +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ) +{ + *(&result->x + idx) = value; +} + +static inline float vmathQGetElem( const VmathQuat *quat, int idx ) +{ + return *(&quat->x + idx); +} + +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->x = ( quat0->x + quat1->x ); + result->y = ( quat0->y + quat1->y ); + result->z = ( quat0->z + quat1->z ); + result->w = ( quat0->w + quat1->w ); +} + +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->x = ( quat0->x - quat1->x ); + result->y = ( quat0->y - quat1->y ); + result->z = ( quat0->z - quat1->z ); + result->w = ( quat0->w - quat1->w ); +} + +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->x = ( quat->x * scalar ); + result->y = ( quat->y * scalar ); + result->z = ( quat->z * scalar ); + result->w = ( quat->w * scalar ); +} + +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->x = ( quat->x / scalar ); + result->y = ( quat->y / scalar ); + result->z = ( quat->z / scalar ); + result->w = ( quat->w / scalar ); +} + +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ) +{ + result->x = -quat->x; + result->y = -quat->y; + result->z = -quat->z; + result->w = -quat->w; +} + +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + float result; + result = ( quat0->x * quat1->x ); + result = ( result + ( quat0->y * quat1->y ) ); + result = ( result + ( quat0->z * quat1->z ) ); + result = ( result + ( quat0->w * quat1->w ) ); + return result; +} + +static inline float vmathQNorm( const VmathQuat *quat ) +{ + float result; + result = ( quat->x * quat->x ); + result = ( result + ( quat->y * quat->y ) ); + result = ( result + ( quat->z * quat->z ) ); + result = ( result + ( quat->w * quat->w ) ); + return result; +} + +static inline float vmathQLength( const VmathQuat *quat ) +{ + return sqrtf( vmathQNorm( quat ) ); +} + +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ) +{ + float lenSqr, lenInv; + lenSqr = vmathQNorm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + result->x = ( quat->x * lenInv ); + result->y = ( quat->y * lenInv ); + result->z = ( quat->z * lenInv ); + result->w = ( quat->w * lenInv ); +} + +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + vmathV3Dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + vmathV3Cross( &tmpV3_0, unitVec0, unitVec1 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, recipCosHalfAngleX2 ); + vmathQMakeFromV3Scalar( result, &tmpV3_1, ( cosHalfAngleX2 * 0.5f ) ); +} + +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec ) +{ + VmathVector3 tmpV3_0; + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + vmathV3ScalarMul( &tmpV3_0, unitVec, s ); + vmathQMakeFromV3Scalar( result, &tmpV3_0, c ); +} + +static inline void vmathQMakeRotationX( VmathQuat *result, float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + vmathQMakeFromElems( result, s, 0.0f, 0.0f, c ); +} + +static inline void vmathQMakeRotationY( VmathQuat *result, float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + vmathQMakeFromElems( result, 0.0f, s, 0.0f, c ); +} + +static inline void vmathQMakeRotationZ( VmathQuat *result, float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + vmathQMakeFromElems( result, 0.0f, 0.0f, s, c ); +} + +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( ( quat0->w * quat1->x ) + ( quat0->x * quat1->w ) ) + ( quat0->y * quat1->z ) ) - ( quat0->z * quat1->y ) ); + tmpY = ( ( ( ( quat0->w * quat1->y ) + ( quat0->y * quat1->w ) ) + ( quat0->z * quat1->x ) ) - ( quat0->x * quat1->z ) ); + tmpZ = ( ( ( ( quat0->w * quat1->z ) + ( quat0->z * quat1->w ) ) + ( quat0->x * quat1->y ) ) - ( quat0->y * quat1->x ) ); + tmpW = ( ( ( ( quat0->w * quat1->w ) - ( quat0->x * quat1->x ) ) - ( quat0->y * quat1->y ) ) - ( quat0->z * quat1->z ) ); + vmathQMakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *quat, const VmathVector3 *vec ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat->w * vec->x ) + ( quat->y * vec->z ) ) - ( quat->z * vec->y ) ); + tmpY = ( ( ( quat->w * vec->y ) + ( quat->z * vec->x ) ) - ( quat->x * vec->z ) ); + tmpZ = ( ( ( quat->w * vec->z ) + ( quat->x * vec->y ) ) - ( quat->y * vec->x ) ); + tmpW = ( ( ( quat->x * vec->x ) + ( quat->y * vec->y ) ) + ( quat->z * vec->z ) ); + result->x = ( ( ( ( tmpW * quat->x ) + ( tmpX * quat->w ) ) - ( tmpY * quat->z ) ) + ( tmpZ * quat->y ) ); + result->y = ( ( ( ( tmpW * quat->y ) + ( tmpY * quat->w ) ) - ( tmpZ * quat->x ) ) + ( tmpX * quat->z ) ); + result->z = ( ( ( ( tmpW * quat->z ) + ( tmpZ * quat->w ) ) - ( tmpX * quat->y ) ) + ( tmpY * quat->x ) ); +} + +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ) +{ + vmathQMakeFromElems( result, -quat->x, -quat->y, -quat->z, quat->w ); +} + +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ) +{ + result->x = ( select1 )? quat1->x : quat0->x; + result->y = ( select1 )? quat1->y : quat0->y; + result->z = ( select1 )? quat1->z : quat0->z; + result->w = ( select1 )? quat1->w : quat0->w; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint( const VmathQuat *quat ) +{ + printf( "( %f %f %f %f )\n", quat->x, quat->y, quat->z, quat->w ); +} + +static inline void vmathQPrints( const VmathQuat *quat, const char *name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat->x, quat->y, quat->z, quat->w ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos_v.h new file mode 100644 index 000000000..b5a9e248d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/quat_aos_v.h @@ -0,0 +1,300 @@ +/* + 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_V_C_H +#define _VECTORMATH_QUAT_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathQuat vmathQMakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathQuat result; + vmathQMakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathQuat result; + vmathQMakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ) +{ + VmathQuat result; + vmathQMakeFromV4(&result, &vec); + return result; +} + +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ) +{ + VmathQuat result; + vmathQMakeFromScalar(&result, scalar); + return result; +} + +static inline VmathQuat vmathQMakeIdentity_V( ) +{ + VmathQuat result; + vmathQMakeIdentity(&result); + return result; +} + +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQLerp(&result, t, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ) +{ + VmathQuat result; + vmathQSlerp(&result, t, &unitQuat0, &unitQuat1); + return result; +} + +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ) +{ + VmathQuat result; + vmathQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3); + return result; +} + +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ) +{ + vmathQSetXYZ(result, &vec); +} + +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ) +{ + VmathVector3 result; + vmathQGetXYZ(&result, &quat); + return result; +} + +static inline void vmathQSetX_V( VmathQuat *result, float _x ) +{ + vmathQSetX(result, _x); +} + +static inline float vmathQGetX_V( VmathQuat quat ) +{ + return vmathQGetX(&quat); +} + +static inline void vmathQSetY_V( VmathQuat *result, float _y ) +{ + vmathQSetY(result, _y); +} + +static inline float vmathQGetY_V( VmathQuat quat ) +{ + return vmathQGetY(&quat); +} + +static inline void vmathQSetZ_V( VmathQuat *result, float _z ) +{ + vmathQSetZ(result, _z); +} + +static inline float vmathQGetZ_V( VmathQuat quat ) +{ + return vmathQGetZ(&quat); +} + +static inline void vmathQSetW_V( VmathQuat *result, float _w ) +{ + vmathQSetW(result, _w); +} + +static inline float vmathQGetW_V( VmathQuat quat ) +{ + return vmathQGetW(&quat); +} + +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ) +{ + vmathQSetElem(result, idx, value); +} + +static inline float vmathQGetElem_V( VmathQuat quat, int idx ) +{ + return vmathQGetElem(&quat, idx); +} + +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQAdd(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQSub(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarMul(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarDiv(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQNeg_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNeg(&result, &quat); + return result; +} + +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ) +{ + return vmathQDot(&quat0, &quat1); +} + +static inline float vmathQNorm_V( VmathQuat quat ) +{ + return vmathQNorm(&quat); +} + +static inline float vmathQLength_V( VmathQuat quat ) +{ + return vmathQLength(&quat); +} + +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNormalize(&result, &quat); + return result; +} + +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathQuat result; + vmathQMakeRotationArc(&result, &unitVec0, &unitVec1); + return result; +} + +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathQuat result; + vmathQMakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathQuat vmathQMakeRotationX_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationX(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationY_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationY(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationZ_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationZ(&result, radians); + return result; +} + +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQMul(&result, &quat0, &quat1); + return result; +} + +static inline VmathVector3 vmathQRotate_V( VmathQuat quat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathQRotate(&result, &quat, &vec); + return result; +} + +static inline VmathQuat vmathQConj_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQConj(&result, &quat); + return result; +} + +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ) +{ + VmathQuat result; + vmathQSelect(&result, &quat0, &quat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint_V( VmathQuat quat ) +{ + vmathQPrint(&quat); +} + +static inline void vmathQPrints_V( VmathQuat quat, const char *name ) +{ + vmathQPrints(&quat, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos.h new file mode 100644 index 000000000..f0b0f437d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos.h @@ -0,0 +1,971 @@ +/* + 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_VEC_AOS_C_H +#define _VECTORMATH_VEC_AOS_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathV3MakeFromElems( VmathVector3 *result, float _x, float _y, float _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathV3MakeXAxis( VmathVector3 *result ) +{ + vmathV3MakeFromElems( result, 1.0f, 0.0f, 0.0f ); +} + +static inline void vmathV3MakeYAxis( VmathVector3 *result ) +{ + vmathV3MakeFromElems( result, 0.0f, 1.0f, 0.0f ); +} + +static inline void vmathV3MakeZAxis( VmathVector3 *result ) +{ + vmathV3MakeFromElems( result, 0.0f, 0.0f, 1.0f ); +} + +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathV3Sub( &tmpV3_0, vec1, vec0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathV3Add( result, vec0, &tmpV3_1 ); +} + +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = vmathV3Dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + vmathV3ScalarMul( &tmpV3_0, unitVec0, scale0 ); + vmathV3ScalarMul( &tmpV3_1, unitVec1, scale1 ); + vmathV3Add( result, &tmpV3_0, &tmpV3_1 ); +} + +static inline void vmathV3SetX( VmathVector3 *result, float _x ) +{ + result->x = _x; +} + +static inline float vmathV3GetX( const VmathVector3 *vec ) +{ + return vec->x; +} + +static inline void vmathV3SetY( VmathVector3 *result, float _y ) +{ + result->y = _y; +} + +static inline float vmathV3GetY( const VmathVector3 *vec ) +{ + return vec->y; +} + +static inline void vmathV3SetZ( VmathVector3 *result, float _z ) +{ + result->z = _z; +} + +static inline float vmathV3GetZ( const VmathVector3 *vec ) +{ + return vec->z; +} + +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ) +{ + *(&result->x + idx) = value; +} + +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = ( vec0->x + vec1->x ); + result->y = ( vec0->y + vec1->y ); + result->z = ( vec0->z + vec1->z ); +} + +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = ( vec0->x - vec1->x ); + result->y = ( vec0->y - vec1->y ); + result->z = ( vec0->z - vec1->z ); +} + +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt1 ) +{ + result->x = ( vec->x + pnt1->x ); + result->y = ( vec->y + pnt1->y ); + result->z = ( vec->z + pnt1->z ); +} + +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->x = ( vec->x * scalar ); + result->y = ( vec->y * scalar ); + result->z = ( vec->z * scalar ); +} + +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->x = ( vec->x / scalar ); + result->y = ( vec->y / scalar ); + result->z = ( vec->z / scalar ); +} + +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = -vec->x; + result->y = -vec->y; + result->z = -vec->z; +} + +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = ( vec0->x * vec1->x ); + result->y = ( vec0->y * vec1->y ); + result->z = ( vec0->z * vec1->z ); +} + +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = ( vec0->x / vec1->x ); + result->y = ( vec0->y / vec1->y ); + result->z = ( vec0->z / vec1->z ); +} + +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = ( 1.0f / vec->x ); + result->y = ( 1.0f / vec->y ); + result->z = ( 1.0f / vec->z ); +} + +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = sqrtf( vec->x ); + result->y = sqrtf( vec->y ); + result->z = sqrtf( vec->z ); +} + +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = ( 1.0f / sqrtf( vec->x ) ); + result->y = ( 1.0f / sqrtf( vec->y ) ); + result->z = ( 1.0f / sqrtf( vec->z ) ); +} + +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->x = fabsf( vec->x ); + result->y = fabsf( vec->y ); + result->z = fabsf( vec->z ); +} + +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = ( vec1->x < 0.0f )? -fabsf( vec0->x ) : fabsf( vec0->x ); + result->y = ( vec1->y < 0.0f )? -fabsf( vec0->y ) : fabsf( vec0->y ); + result->z = ( vec1->z < 0.0f )? -fabsf( vec0->z ) : fabsf( vec0->z ); +} + +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = (vec0->x > vec1->x)? vec0->x : vec1->x; + result->y = (vec0->y > vec1->y)? vec0->y : vec1->y; + result->z = (vec0->z > vec1->z)? vec0->z : vec1->z; +} + +static inline float vmathV3MaxElem( const VmathVector3 *vec ) +{ + float result; + result = (vec->x > vec->y)? vec->x : vec->y; + result = (vec->z > result)? vec->z : result; + return result; +} + +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->x = (vec0->x < vec1->x)? vec0->x : vec1->x; + result->y = (vec0->y < vec1->y)? vec0->y : vec1->y; + result->z = (vec0->z < vec1->z)? vec0->z : vec1->z; +} + +static inline float vmathV3MinElem( const VmathVector3 *vec ) +{ + float result; + result = (vec->x < vec->y)? vec->x : vec->y; + result = (vec->z < result)? vec->z : result; + return result; +} + +static inline float vmathV3Sum( const VmathVector3 *vec ) +{ + float result; + result = ( vec->x + vec->y ); + result = ( result + vec->z ); + return result; +} + +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + float result; + result = ( vec0->x * vec1->x ); + result = ( result + ( vec0->y * vec1->y ) ); + result = ( result + ( vec0->z * vec1->z ) ); + return result; +} + +static inline float vmathV3LengthSqr( const VmathVector3 *vec ) +{ + float result; + result = ( vec->x * vec->x ); + result = ( result + ( vec->y * vec->y ) ); + result = ( result + ( vec->z * vec->z ) ); + return result; +} + +static inline float vmathV3Length( const VmathVector3 *vec ) +{ + return sqrtf( vmathV3LengthSqr( vec ) ); +} + +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ) +{ + float lenSqr, lenInv; + lenSqr = vmathV3LengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + result->x = ( vec->x * lenInv ); + result->y = ( vec->y * lenInv ); + result->z = ( vec->z * lenInv ); +} + +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + float tmpX, tmpY, tmpZ; + tmpX = ( ( vec0->y * vec1->z ) - ( vec0->z * vec1->y ) ); + tmpY = ( ( vec0->z * vec1->x ) - ( vec0->x * vec1->z ) ); + tmpZ = ( ( vec0->x * vec1->y ) - ( vec0->y * vec1->x ) ); + vmathV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ) +{ + result->x = ( select1 )? vec1->x : vec0->x; + result->y = ( select1 )? vec1->y : vec0->y; + result->z = ( select1 )? vec1->z : vec0->z; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print( const VmathVector3 *vec ) +{ + printf( "( %f %f %f )\n", vec->x, vec->y, vec->z ); +} + +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec->x, vec->y, vec->z ); +} + +#endif + +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathV4MakeFromElems( VmathVector4 *result, float _x, float _y, float _z, float _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float _w ) +{ + vmathV4SetXYZ( result, xyz ); + vmathV4SetW( result, _w ); +} + +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = 0.0f; +} + +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; + result->w = 1.0f; +} + +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathV4MakeXAxis( VmathVector4 *result ) +{ + vmathV4MakeFromElems( result, 1.0f, 0.0f, 0.0f, 0.0f ); +} + +static inline void vmathV4MakeYAxis( VmathVector4 *result ) +{ + vmathV4MakeFromElems( result, 0.0f, 1.0f, 0.0f, 0.0f ); +} + +static inline void vmathV4MakeZAxis( VmathVector4 *result ) +{ + vmathV4MakeFromElems( result, 0.0f, 0.0f, 1.0f, 0.0f ); +} + +static inline void vmathV4MakeWAxis( VmathVector4 *result ) +{ + vmathV4MakeFromElems( result, 0.0f, 0.0f, 0.0f, 1.0f ); +} + +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + VmathVector4 tmpV4_0, tmpV4_1; + vmathV4Sub( &tmpV4_0, vec1, vec0 ); + vmathV4ScalarMul( &tmpV4_1, &tmpV4_0, t ); + vmathV4Add( result, vec0, &tmpV4_1 ); +} + +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ) +{ + VmathVector4 tmpV4_0, tmpV4_1; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = vmathV4Dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + vmathV4ScalarMul( &tmpV4_0, unitVec0, scale0 ); + vmathV4ScalarMul( &tmpV4_1, unitVec1, scale1 ); + vmathV4Add( result, &tmpV4_0, &tmpV4_1 ); +} + +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ) +{ + vmathV3MakeFromElems( result, vec->x, vec->y, vec->z ); +} + +static inline void vmathV4SetX( VmathVector4 *result, float _x ) +{ + result->x = _x; +} + +static inline float vmathV4GetX( const VmathVector4 *vec ) +{ + return vec->x; +} + +static inline void vmathV4SetY( VmathVector4 *result, float _y ) +{ + result->y = _y; +} + +static inline float vmathV4GetY( const VmathVector4 *vec ) +{ + return vec->y; +} + +static inline void vmathV4SetZ( VmathVector4 *result, float _z ) +{ + result->z = _z; +} + +static inline float vmathV4GetZ( const VmathVector4 *vec ) +{ + return vec->z; +} + +static inline void vmathV4SetW( VmathVector4 *result, float _w ) +{ + result->w = _w; +} + +static inline float vmathV4GetW( const VmathVector4 *vec ) +{ + return vec->w; +} + +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ) +{ + *(&result->x + idx) = value; +} + +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = ( vec0->x + vec1->x ); + result->y = ( vec0->y + vec1->y ); + result->z = ( vec0->z + vec1->z ); + result->w = ( vec0->w + vec1->w ); +} + +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = ( vec0->x - vec1->x ); + result->y = ( vec0->y - vec1->y ); + result->z = ( vec0->z - vec1->z ); + result->w = ( vec0->w - vec1->w ); +} + +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->x = ( vec->x * scalar ); + result->y = ( vec->y * scalar ); + result->z = ( vec->z * scalar ); + result->w = ( vec->w * scalar ); +} + +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->x = ( vec->x / scalar ); + result->y = ( vec->y / scalar ); + result->z = ( vec->z / scalar ); + result->w = ( vec->w / scalar ); +} + +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = -vec->x; + result->y = -vec->y; + result->z = -vec->z; + result->w = -vec->w; +} + +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = ( vec0->x * vec1->x ); + result->y = ( vec0->y * vec1->y ); + result->z = ( vec0->z * vec1->z ); + result->w = ( vec0->w * vec1->w ); +} + +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = ( vec0->x / vec1->x ); + result->y = ( vec0->y / vec1->y ); + result->z = ( vec0->z / vec1->z ); + result->w = ( vec0->w / vec1->w ); +} + +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = ( 1.0f / vec->x ); + result->y = ( 1.0f / vec->y ); + result->z = ( 1.0f / vec->z ); + result->w = ( 1.0f / vec->w ); +} + +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = sqrtf( vec->x ); + result->y = sqrtf( vec->y ); + result->z = sqrtf( vec->z ); + result->w = sqrtf( vec->w ); +} + +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = ( 1.0f / sqrtf( vec->x ) ); + result->y = ( 1.0f / sqrtf( vec->y ) ); + result->z = ( 1.0f / sqrtf( vec->z ) ); + result->w = ( 1.0f / sqrtf( vec->w ) ); +} + +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->x = fabsf( vec->x ); + result->y = fabsf( vec->y ); + result->z = fabsf( vec->z ); + result->w = fabsf( vec->w ); +} + +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = ( vec1->x < 0.0f )? -fabsf( vec0->x ) : fabsf( vec0->x ); + result->y = ( vec1->y < 0.0f )? -fabsf( vec0->y ) : fabsf( vec0->y ); + result->z = ( vec1->z < 0.0f )? -fabsf( vec0->z ) : fabsf( vec0->z ); + result->w = ( vec1->w < 0.0f )? -fabsf( vec0->w ) : fabsf( vec0->w ); +} + +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = (vec0->x > vec1->x)? vec0->x : vec1->x; + result->y = (vec0->y > vec1->y)? vec0->y : vec1->y; + result->z = (vec0->z > vec1->z)? vec0->z : vec1->z; + result->w = (vec0->w > vec1->w)? vec0->w : vec1->w; +} + +static inline float vmathV4MaxElem( const VmathVector4 *vec ) +{ + float result; + result = (vec->x > vec->y)? vec->x : vec->y; + result = (vec->z > result)? vec->z : result; + result = (vec->w > result)? vec->w : result; + return result; +} + +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->x = (vec0->x < vec1->x)? vec0->x : vec1->x; + result->y = (vec0->y < vec1->y)? vec0->y : vec1->y; + result->z = (vec0->z < vec1->z)? vec0->z : vec1->z; + result->w = (vec0->w < vec1->w)? vec0->w : vec1->w; +} + +static inline float vmathV4MinElem( const VmathVector4 *vec ) +{ + float result; + result = (vec->x < vec->y)? vec->x : vec->y; + result = (vec->z < result)? vec->z : result; + result = (vec->w < result)? vec->w : result; + return result; +} + +static inline float vmathV4Sum( const VmathVector4 *vec ) +{ + float result; + result = ( vec->x + vec->y ); + result = ( result + vec->z ); + result = ( result + vec->w ); + return result; +} + +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + float result; + result = ( vec0->x * vec1->x ); + result = ( result + ( vec0->y * vec1->y ) ); + result = ( result + ( vec0->z * vec1->z ) ); + result = ( result + ( vec0->w * vec1->w ) ); + return result; +} + +static inline float vmathV4LengthSqr( const VmathVector4 *vec ) +{ + float result; + result = ( vec->x * vec->x ); + result = ( result + ( vec->y * vec->y ) ); + result = ( result + ( vec->z * vec->z ) ); + result = ( result + ( vec->w * vec->w ) ); + return result; +} + +static inline float vmathV4Length( const VmathVector4 *vec ) +{ + return sqrtf( vmathV4LengthSqr( vec ) ); +} + +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ) +{ + float lenSqr, lenInv; + lenSqr = vmathV4LengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + result->x = ( vec->x * lenInv ); + result->y = ( vec->y * lenInv ); + result->z = ( vec->z * lenInv ); + result->w = ( vec->w * lenInv ); +} + +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ) +{ + result->x = ( select1 )? vec1->x : vec0->x; + result->y = ( select1 )? vec1->y : vec0->y; + result->z = ( select1 )? vec1->z : vec0->z; + result->w = ( select1 )? vec1->w : vec0->w; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print( const VmathVector4 *vec ) +{ + printf( "( %f %f %f %f )\n", vec->x, vec->y, vec->z, vec->w ); +} + +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec->x, vec->y, vec->z, vec->w ); +} + +#endif + +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float _x, float _y, float _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathP3AddV3( result, pnt0, &tmpV3_1 ); +} + +static inline void vmathP3SetX( VmathPoint3 *result, float _x ) +{ + result->x = _x; +} + +static inline float vmathP3GetX( const VmathPoint3 *pnt ) +{ + return pnt->x; +} + +static inline void vmathP3SetY( VmathPoint3 *result, float _y ) +{ + result->y = _y; +} + +static inline float vmathP3GetY( const VmathPoint3 *pnt ) +{ + return pnt->y; +} + +static inline void vmathP3SetZ( VmathPoint3 *result, float _z ) +{ + result->z = _z; +} + +static inline float vmathP3GetZ( const VmathPoint3 *pnt ) +{ + return pnt->z; +} + +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ) +{ + *(&result->x + idx) = value; +} + +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ) +{ + return *(&pnt->x + idx); +} + +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = ( pnt0->x - pnt1->x ); + result->y = ( pnt0->y - pnt1->y ); + result->z = ( pnt0->z - pnt1->z ); +} + +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->x = ( pnt->x + vec1->x ); + result->y = ( pnt->y + vec1->y ); + result->z = ( pnt->z + vec1->z ); +} + +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->x = ( pnt->x - vec1->x ); + result->y = ( pnt->y - vec1->y ); + result->z = ( pnt->z - vec1->z ); +} + +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = ( pnt0->x * pnt1->x ); + result->y = ( pnt0->y * pnt1->y ); + result->z = ( pnt0->z * pnt1->z ); +} + +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = ( pnt0->x / pnt1->x ); + result->y = ( pnt0->y / pnt1->y ); + result->z = ( pnt0->z / pnt1->z ); +} + +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->x = ( 1.0f / pnt->x ); + result->y = ( 1.0f / pnt->y ); + result->z = ( 1.0f / pnt->z ); +} + +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->x = sqrtf( pnt->x ); + result->y = sqrtf( pnt->y ); + result->z = sqrtf( pnt->z ); +} + +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->x = ( 1.0f / sqrtf( pnt->x ) ); + result->y = ( 1.0f / sqrtf( pnt->y ) ); + result->z = ( 1.0f / sqrtf( pnt->z ) ); +} + +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->x = fabsf( pnt->x ); + result->y = fabsf( pnt->y ); + result->z = fabsf( pnt->z ); +} + +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = ( pnt1->x < 0.0f )? -fabsf( pnt0->x ) : fabsf( pnt0->x ); + result->y = ( pnt1->y < 0.0f )? -fabsf( pnt0->y ) : fabsf( pnt0->y ); + result->z = ( pnt1->z < 0.0f )? -fabsf( pnt0->z ) : fabsf( pnt0->z ); +} + +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = (pnt0->x > pnt1->x)? pnt0->x : pnt1->x; + result->y = (pnt0->y > pnt1->y)? pnt0->y : pnt1->y; + result->z = (pnt0->z > pnt1->z)? pnt0->z : pnt1->z; +} + +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ) +{ + float result; + result = (pnt->x > pnt->y)? pnt->x : pnt->y; + result = (pnt->z > result)? pnt->z : result; + return result; +} + +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->x = (pnt0->x < pnt1->x)? pnt0->x : pnt1->x; + result->y = (pnt0->y < pnt1->y)? pnt0->y : pnt1->y; + result->z = (pnt0->z < pnt1->z)? pnt0->z : pnt1->z; +} + +static inline float vmathP3MinElem( const VmathPoint3 *pnt ) +{ + float result; + result = (pnt->x < pnt->y)? pnt->x : pnt->y; + result = (pnt->z < result)? pnt->z : result; + return result; +} + +static inline float vmathP3Sum( const VmathPoint3 *pnt ) +{ + float result; + result = ( pnt->x + pnt->y ); + result = ( result + pnt->z ); + return result; +} + +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromScalar( &tmpP3_0, scaleVal ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromV3( &tmpP3_0, scaleVec ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ) +{ + float result; + result = ( pnt->x * unitVec->x ); + result = ( result + ( pnt->y * unitVec->y ) ); + result = ( result + ( pnt->z * unitVec->z ) ); + return result; +} + +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ) +{ + result->x = ( select1 )? pnt1->x : pnt0->x; + result->y = ( select1 )? pnt1->y : pnt0->y; + result->z = ( select1 )? pnt1->z : pnt0->z; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print( const VmathPoint3 *pnt ) +{ + printf( "( %f %f %f )\n", pnt->x, pnt->y, pnt->z ); +} + +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt->x, pnt->y, pnt->z ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos_v.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos_v.h new file mode 100644 index 000000000..75c49370d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/vec_aos_v.h @@ -0,0 +1,848 @@ +/* + 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_VEC_AOS_V_C_H +#define _VECTORMATH_VEC_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathVector3 vmathV3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathVector3 result; + vmathV3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector3 result; + vmathV3MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ) +{ + VmathVector3 result; + vmathV3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector3 vmathV3MakeXAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeXAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeYAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeYAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeZAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeZAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathVector3 result; + vmathV3Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathV3SetX_V( VmathVector3 *result, float _x ) +{ + vmathV3SetX(result, _x); +} + +static inline float vmathV3GetX_V( VmathVector3 vec ) +{ + return vmathV3GetX(&vec); +} + +static inline void vmathV3SetY_V( VmathVector3 *result, float _y ) +{ + vmathV3SetY(result, _y); +} + +static inline float vmathV3GetY_V( VmathVector3 vec ) +{ + return vmathV3GetY(&vec); +} + +static inline void vmathV3SetZ_V( VmathVector3 *result, float _z ) +{ + vmathV3SetZ(result, _z); +} + +static inline float vmathV3GetZ_V( VmathVector3 vec ) +{ + return vmathV3GetZ(&vec); +} + +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ) +{ + vmathV3SetElem(result, idx, value); +} + +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ) +{ + return vmathV3GetElem(&vec, idx); +} + +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathV3AddP3(&result, &vec, &pnt1); + return result; +} + +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Neg(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MaxElem_V( VmathVector3 vec ) +{ + return vmathV3MaxElem(&vec); +} + +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MinElem_V( VmathVector3 vec ) +{ + return vmathV3MinElem(&vec); +} + +static inline float vmathV3Sum_V( VmathVector3 vec ) +{ + return vmathV3Sum(&vec); +} + +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + return vmathV3Dot(&vec0, &vec1); +} + +static inline float vmathV3LengthSqr_V( VmathVector3 vec ) +{ + return vmathV3LengthSqr(&vec); +} + +static inline float vmathV3Length_V( VmathVector3 vec ) +{ + return vmathV3Length(&vec); +} + +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Normalize(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Cross(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ) +{ + VmathVector3 result; + vmathV3Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print_V( VmathVector3 vec ) +{ + vmathV3Print(&vec); +} + +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ) +{ + vmathV3Prints(&vec, name); +} + +#endif + +static inline VmathVector4 vmathV4MakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ) +{ + VmathVector4 result; + vmathV4MakeFromV3(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathV4MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ) +{ + VmathVector4 result; + vmathV4MakeFromQ(&result, &quat); + return result; +} + +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ) +{ + VmathVector4 result; + vmathV4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector4 vmathV4MakeXAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeXAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeYAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeYAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeZAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeZAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeWAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeWAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ) +{ + VmathVector4 result; + vmathV4Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ) +{ + vmathV4SetXYZ(result, &vec); +} + +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ) +{ + VmathVector3 result; + vmathV4GetXYZ(&result, &vec); + return result; +} + +static inline void vmathV4SetX_V( VmathVector4 *result, float _x ) +{ + vmathV4SetX(result, _x); +} + +static inline float vmathV4GetX_V( VmathVector4 vec ) +{ + return vmathV4GetX(&vec); +} + +static inline void vmathV4SetY_V( VmathVector4 *result, float _y ) +{ + vmathV4SetY(result, _y); +} + +static inline float vmathV4GetY_V( VmathVector4 vec ) +{ + return vmathV4GetY(&vec); +} + +static inline void vmathV4SetZ_V( VmathVector4 *result, float _z ) +{ + vmathV4SetZ(result, _z); +} + +static inline float vmathV4GetZ_V( VmathVector4 vec ) +{ + return vmathV4GetZ(&vec); +} + +static inline void vmathV4SetW_V( VmathVector4 *result, float _w ) +{ + vmathV4SetW(result, _w); +} + +static inline float vmathV4GetW_V( VmathVector4 vec ) +{ + return vmathV4GetW(&vec); +} + +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ) +{ + vmathV4SetElem(result, idx, value); +} + +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ) +{ + return vmathV4GetElem(&vec, idx); +} + +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Neg(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MaxElem_V( VmathVector4 vec ) +{ + return vmathV4MaxElem(&vec); +} + +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MinElem_V( VmathVector4 vec ) +{ + return vmathV4MinElem(&vec); +} + +static inline float vmathV4Sum_V( VmathVector4 vec ) +{ + return vmathV4Sum(&vec); +} + +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + return vmathV4Dot(&vec0, &vec1); +} + +static inline float vmathV4LengthSqr_V( VmathVector4 vec ) +{ + return vmathV4LengthSqr(&vec); +} + +static inline float vmathV4Length_V( VmathVector4 vec ) +{ + return vmathV4Length(&vec); +} + +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Normalize(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ) +{ + VmathVector4 result; + vmathV4Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print_V( VmathVector4 vec ) +{ + vmathV4Print(&vec); +} + +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ) +{ + vmathV4Prints(&vec, name); +} + +#endif + +static inline VmathPoint3 vmathP3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathPoint3 result; + vmathP3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ) +{ + VmathPoint3 result; + vmathP3MakeFromV3(&result, &vec); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ) +{ + VmathPoint3 result; + vmathP3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3Lerp(&result, t, &pnt0, &pnt1); + return result; +} + +static inline void vmathP3SetX_V( VmathPoint3 *result, float _x ) +{ + vmathP3SetX(result, _x); +} + +static inline float vmathP3GetX_V( VmathPoint3 pnt ) +{ + return vmathP3GetX(&pnt); +} + +static inline void vmathP3SetY_V( VmathPoint3 *result, float _y ) +{ + vmathP3SetY(result, _y); +} + +static inline float vmathP3GetY_V( VmathPoint3 pnt ) +{ + return vmathP3GetY(&pnt); +} + +static inline void vmathP3SetZ_V( VmathPoint3 *result, float _z ) +{ + vmathP3SetZ(result, _z); +} + +static inline float vmathP3GetZ_V( VmathPoint3 pnt ) +{ + return vmathP3GetZ(&pnt); +} + +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ) +{ + vmathP3SetElem(result, idx, value); +} + +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ) +{ + return vmathP3GetElem(&pnt, idx); +} + +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathVector3 result; + vmathP3Sub(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3AddV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3SubV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MulPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3DivPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RecipPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3SqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RsqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3AbsPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3CopySignPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MaxPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ) +{ + return vmathP3MaxElem(&pnt); +} + +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MinPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MinElem_V( VmathPoint3 pnt ) +{ + return vmathP3MinElem(&pnt); +} + +static inline float vmathP3Sum_V( VmathPoint3 pnt ) +{ + return vmathP3Sum(&pnt); +} + +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ) +{ + VmathPoint3 result; + vmathP3Scale(&result, &pnt, scaleVal); + return result; +} + +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ) +{ + VmathPoint3 result; + vmathP3NonUniformScale(&result, &pnt, &scaleVec); + return result; +} + +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ) +{ + return vmathP3Projection(&pnt, &unitVec); +} + +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistSqrFromOrigin(&pnt); +} + +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistFromOrigin(&pnt); +} + +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3DistSqr(&pnt0, &pnt1); +} + +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3Dist(&pnt0, &pnt1); +} + +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ) +{ + VmathPoint3 result; + vmathP3Select(&result, &pnt0, &pnt1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print_V( VmathPoint3 pnt ) +{ + vmathP3Print(&pnt); +} + +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ) +{ + vmathP3Prints(&pnt, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos.h new file mode 100644 index 000000000..33afb9577 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos.h @@ -0,0 +1,1879 @@ +/* + 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_AOS_C_H +#define _VECTORMATH_AOS_C_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + float x; + float y; + float z; +#ifndef __GNUC__ + float d; +#endif +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + float x; + float y; + float z; + float w; +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + float x; + float y; + float z; +#ifndef __GNUC__ + float d; +#endif +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + float x; + float y; + float z; + float w; +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Copy a 3-D vector + */ +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline void vmathV3MakeFromElems( VmathVector3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX( const VmathVector3 *vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY( const VmathVector3 *vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ( const VmathVector3 *vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV3MakeXAxis( VmathVector3 *result ); + +/* + * Construct y axis + */ +static inline void vmathV3MakeYAxis( VmathVector3 *result ); + +/* + * Construct z axis + */ +static inline void vmathV3MakeZAxis( VmathVector3 *result ); + +/* + * Multiply two 3-D vectors per element + */ +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem( const VmathVector3 *vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem( const VmathVector3 *vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum( const VmathVector3 *vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr( const VmathVector3 *vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length( const VmathVector3 *vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + */ +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print( const VmathVector3 *vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ); + +#endif + +/* + * Copy a 4-D vector + */ +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline void vmathV4MakeFromElems( VmathVector4 *result, float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX( const VmathVector4 *vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY( const VmathVector4 *vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ( const VmathVector4 *vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW( const VmathVector4 *vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV4MakeXAxis( VmathVector4 *result ); + +/* + * Construct y axis + */ +static inline void vmathV4MakeYAxis( VmathVector4 *result ); + +/* + * Construct z axis + */ +static inline void vmathV4MakeZAxis( VmathVector4 *result ); + +/* + * Construct w axis + */ +static inline void vmathV4MakeWAxis( VmathVector4 *result ); + +/* + * Multiply two 4-D vectors per element + */ +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem( const VmathVector4 *vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem( const VmathVector4 *vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum( const VmathVector4 *vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr( const VmathVector4 *vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length( const VmathVector4 *vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + */ +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print( const VmathVector4 *vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ); + +#endif + +/* + * Copy a 3-D point + */ +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX( const VmathPoint3 *pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY( const VmathPoint3 *pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ( const VmathPoint3 *pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Multiply two 3-D points per element + */ +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem( const VmathPoint3 *pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum( const VmathPoint3 *pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Conditionally select between two 3-D points + */ +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print( const VmathPoint3 *pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ); + +#endif + +/* + * Copy a quaternion + */ +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline void vmathQMakeFromElems( VmathQuat *result, float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX( const VmathQuat *quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY( const VmathQuat *quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ( const VmathQuat *quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW( const VmathQuat *quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem( const VmathQuat *quat, int idx ); + +/* + * Add two quaternions + */ +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply two quaternions + */ +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct an identity quaternion + */ +static inline void vmathQMakeIdentity( VmathQuat *result ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline void vmathQMakeRotationX( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline void vmathQMakeRotationY( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline void vmathQMakeRotationZ( VmathQuat *result, float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *unitQuat, const VmathVector3 *vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm( const VmathQuat *quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength( const VmathQuat *quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ); + +/* + * Conditionally select between two quaternions + */ +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint( const VmathQuat *quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints( const VmathQuat *quat, const char *name ); + +#endif + +/* + * Copy a 3x3 matrix + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant( const VmathMatrix3 *mat ); + +/* + * Conditionally select between two 3x3 matrices + */ +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print( const VmathMatrix3 *mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ); + +#endif + +/* + * Copy a 4x4 matrix + */ +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *col0, const VmathVector4 *col1, const VmathVector4 *col2, const VmathVector4 *col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant( const VmathMatrix4 *mat ); + +/* + * Conditionally select between two 4x4 matrices + */ +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print( const VmathMatrix4 *mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ); + +#endif + +/* + * Copy a 3x4 transformation matrix + */ +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2, const VmathVector3 *col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline void vmathT3MakeIdentity( VmathTransform3 *result ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + */ +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print( const VmathTransform3 *tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos_v.h b/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos_v.h new file mode 100644 index 000000000..a977c806d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos_v.h @@ -0,0 +1,1845 @@ +/* + 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_AOS_C_V_H +#define _VECTORMATH_AOS_C_V_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + float x; + float y; + float z; +#ifndef __GNUC__ + float d; +#endif +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + float x; + float y; + float z; + float w; +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + float x; + float y; + float z; +#ifndef __GNUC__ + float d; +#endif +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + float x; + float y; + float z; + float w; +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline VmathVector3 vmathV3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX_V( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY_V( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ_V( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX_V( VmathVector3 vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY_V( VmathVector3 vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ_V( VmathVector3 vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ); + +/* + * Construct x axis + */ +static inline VmathVector3 vmathV3MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector3 vmathV3MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector3 vmathV3MakeZAxis_V( ); + +/* + * Multiply two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem_V( VmathVector3 vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem_V( VmathVector3 vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum_V( VmathVector3 vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr_V( VmathVector3 vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length_V( VmathVector3 vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + */ +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print_V( VmathVector3 vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ); + +#endif + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline VmathVector4 vmathV4MakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX_V( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY_V( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ_V( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW_V( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX_V( VmathVector4 vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY_V( VmathVector4 vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ_V( VmathVector4 vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW_V( VmathVector4 vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ); + +/* + * Construct x axis + */ +static inline VmathVector4 vmathV4MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector4 vmathV4MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector4 vmathV4MakeZAxis_V( ); + +/* + * Construct w axis + */ +static inline VmathVector4 vmathV4MakeWAxis_V( ); + +/* + * Multiply two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem_V( VmathVector4 vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem_V( VmathVector4 vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum_V( VmathVector4 vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr_V( VmathVector4 vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length_V( VmathVector4 vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + */ +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print_V( VmathVector4 vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ); + +#endif + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline VmathPoint3 vmathP3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX_V( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY_V( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ_V( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX_V( VmathPoint3 pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY_V( VmathPoint3 pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ_V( VmathPoint3 pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Multiply two 3-D points per element + */ +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem_V( VmathPoint3 pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum_V( VmathPoint3 pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Conditionally select between two 3-D points + */ +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print_V( VmathPoint3 pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ); + +#endif + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline VmathQuat vmathQMakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX_V( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY_V( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ_V( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW_V( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX_V( VmathQuat quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY_V( VmathQuat quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ_V( VmathQuat quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW_V( VmathQuat quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem_V( VmathQuat quat, int idx ); + +/* + * Add two quaternions + */ +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply two quaternions + */ +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline VmathQuat vmathQNeg_V( VmathQuat quat ); + +/* + * Construct an identity quaternion + */ +static inline VmathQuat vmathQMakeIdentity_V( ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline VmathQuat vmathQMakeRotationX_V( float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline VmathQuat vmathQMakeRotationY_V( float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline VmathQuat vmathQMakeRotationZ_V( float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline VmathQuat vmathQConj_V( VmathQuat quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline VmathVector3 vmathQRotate_V( VmathQuat unitQuat, VmathVector3 vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm_V( VmathQuat quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength_V( VmathQuat quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ); + +/* + * Conditionally select between two quaternions + */ +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint_V( VmathQuat quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints_V( VmathQuat quat, const char *name ); + +#endif + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline VmathMatrix3 vmathM3MakeIdentity_V( ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant_V( VmathMatrix3 mat ); + +/* + * Conditionally select between two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print_V( VmathMatrix3 mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ); + +#endif + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 col0, VmathVector4 col1, VmathVector4 col2, VmathVector4 col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline VmathMatrix4 vmathM4MakeIdentity_V( ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant_V( VmathMatrix4 mat ); + +/* + * Conditionally select between two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print_V( VmathMatrix4 mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ); + +#endif + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2, VmathVector3 col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline VmathTransform3 vmathT3MakeIdentity_V( ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + */ +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print_V( VmathTransform3 tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vectormath_aos.h" +#include "vec_aos_v.h" +#include "quat_aos_v.h" +#include "mat_aos_v.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/cpp/mat_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/mat_aos.h new file mode 100644 index 000000000..5d5d012d9 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/mat_aos.h @@ -0,0 +1,1643 @@ +/* + 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_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + float detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ), + Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ), + Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix3( + Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ), + Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ), + Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) ); + res1.setX( ( mI * tmp1 ) ); + res1.setY( ( mM * tmp0 ) ); + res1.setZ( ( mA * tmp1 ) ); + res1.setW( ( mE * tmp0 ) ); + res3.setX( ( mI * tmp3 ) ); + res3.setY( ( mM * tmp2 ) ); + res3.setZ( ( mA * tmp3 ) ); + res3.setW( ( mE * tmp2 ) ); + res2.setX( ( mI * tmp5 ) ); + res2.setY( ( mM * tmp4 ) ); + res2.setZ( ( mA * tmp5 ) ); + res2.setW( ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) ); + res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) ); + res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) ); + res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) ); + res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) ); + res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) ); + res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) ); + res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) ); + res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) ); + res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) ); + res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) ); + res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ), + ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ), + ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ), + ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ), + ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ), + ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4::xAxis( ), + Vector4( 0.0f, c, s, 0.0f ), + Vector4( 0.0f, -s, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, 0.0f, -s, 0.0f ), + Vector4::yAxis( ), + Vector4( s, 0.0f, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, s, 0.0f, 0.0f ), + Vector4( -s, c, 0.0f, 0.0f ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix4( + Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ), + Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ), + Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix4( + Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ), + Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ), + Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, f, 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + return Matrix4( + Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ), + Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ), + Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + float detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ); + inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ); + inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Transform3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + mX = qx; + mY = qy; + mZ = qz; + mW = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ), + ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ), + ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( 0.0f, vec.getZ(), -vec.getY() ), + Vector3( -vec.getZ(), 0.0f, vec.getX() ), + Vector3( vec.getY(), -vec.getX(), 0.0f ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/cpp/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/quat_aos.h new file mode 100644 index 000000000..7f1e8822b --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/quat_aos.h @@ -0,0 +1,432 @@ +/* + 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( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; +} + +inline Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Quat::Quat( const Vector3 & xyz, float _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( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Quat Quat::identity( ) +{ + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) +{ + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); +} + +inline const Quat squad( float 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( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); +} + +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( float _x ) +{ + mX = _x; + return *this; +} + +inline float Quat::getX( ) const +{ + return mX; +} + +inline Quat & Quat::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Quat::getY( ) const +{ + return mY; +} + +inline Quat & Quat::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Quat::getZ( ) const +{ + return mZ; +} + +inline Quat & Quat::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Quat::getW( ) const +{ + return mW; +} + +inline Quat & Quat::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Quat::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Quat::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Quat::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Quat Quat::operator +( const Quat & quat ) const +{ + return Quat( + ( mX + quat.mX ), + ( mY + quat.mY ), + ( mZ + quat.mZ ), + ( mW + quat.mW ) + ); +} + +inline const Quat Quat::operator -( const Quat & quat ) const +{ + return Quat( + ( mX - quat.mX ), + ( mY - quat.mY ), + ( mZ - quat.mZ ), + ( mW - quat.mW ) + ); +} + +inline const Quat Quat::operator *( float scalar ) const +{ + return Quat( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( 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 *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Quat Quat::operator /( float scalar ) const +{ + return Quat( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Quat Quat::operator -( ) const +{ + return Quat( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Quat operator *( float scalar, const Quat & quat ) +{ + return quat * scalar; +} + +inline float dot( const Quat & quat0, const Quat & quat1 ) +{ + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; +} + +inline float norm( const Quat & quat ) +{ + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; +} + +inline float length( const Quat & quat ) +{ + return sqrtf( norm( quat ) ); +} + +inline const Quat normalize( const Quat & quat ) +{ + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); +} + +inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); +} + +inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); +} + +inline const Quat Quat::rotationX( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); +} + +inline const Quat Quat::rotationY( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); +} + +inline const Quat Quat::rotationZ( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); +} + +inline const Quat Quat::operator *( const Quat & quat ) const +{ + return Quat( + ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ), + ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ), + ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ), + ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( 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 ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); +} + +inline const Quat conj( const Quat & quat ) +{ + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); +} + +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) +{ + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vec_aos.h new file mode 100644 index 000000000..a1a75333a --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vec_aos.h @@ -0,0 +1,1173 @@ +/* + 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_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( 1.0f, 0.0f, 0.0f ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( 0.0f, 1.0f, 0.0f ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( 0.0f, 0.0f, 1.0f ); +} + +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + ( mX + pnt.getX() ), + ( mY + pnt.getY() ), + ( mZ + pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + -mX, + -mY, + -mZ + ); +} + +inline const Vector3 operator *( float scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float maxElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float minElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + return result; +} + +inline float sum( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + return result; +} + +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + return result; +} + +inline float lengthSqr( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + return result; +} + +inline float length( const Vector3 & vec ) +{ + return sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector3( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( ( vec0.getY() * vec1.getZ() ) - ( vec0.getZ() * vec1.getY() ) ), + ( ( vec0.getZ() * vec1.getX() ) - ( vec0.getX() * vec1.getZ() ) ), + ( ( vec0.getX() * vec1.getY() ) - ( vec0.getY() * vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ) +{ + return Vector3( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + printf( "( %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ() ); +} + +inline void print( const Vector3 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ() ); +} + +#endif + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = 0.0f; +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = 1.0f; +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( 1.0f, 0.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( 0.0f, 1.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( 0.0f, 0.0f, 1.0f, 0.0f ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ), + ( mW + vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ), + ( mW - vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Vector4 operator *( float scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ), + ( vec0.getW() * vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ), + ( vec0.getW() / vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ), + ( 1.0f / vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ), + sqrtf( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ), + ( 1.0f / sqrtf( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ), + fabsf( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ), + ( vec1.getW() < 0.0f )? -fabsf( vec0.getW() ) : fabsf( vec0.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() > vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float maxElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + result = (vec.getW() > result)? vec.getW() : result; + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() < vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float minElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + result = (vec.getW() < result)? vec.getW() : result; + return result; +} + +inline float sum( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + result = ( result + vec.getW() ); + return result; +} + +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + result = ( result + ( vec0.getW() * vec1.getW() ) ); + return result; +} + +inline float lengthSqr( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + result = ( result + ( vec.getW() * vec.getW() ) ); + return result; +} + +inline float length( const Vector4 & vec ) +{ + return sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector4( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ), + ( vec.getW() * lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ) +{ + return Vector4( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ(), + ( select1 )? vec1.getW() : vec0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + printf( "( %f %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +inline void print( const Vector4 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +#endif + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + ( mX - pnt.mX ), + ( mY - pnt.mY ), + ( mZ - pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + ( mX + vec.getX() ), + ( mY + vec.getY() ), + ( mZ + vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + ( mX - vec.getX() ), + ( mY - vec.getY() ), + ( mZ - vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() * pnt1.getX() ), + ( pnt0.getY() * pnt1.getY() ), + ( pnt0.getZ() * pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() / pnt1.getX() ), + ( pnt0.getY() / pnt1.getY() ), + ( pnt0.getZ() / pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / pnt.getX() ), + ( 1.0f / pnt.getY() ), + ( 1.0f / pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf( pnt.getX() ), + sqrtf( pnt.getY() ), + sqrtf( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / sqrtf( pnt.getX() ) ), + ( 1.0f / sqrtf( pnt.getY() ) ), + ( 1.0f / sqrtf( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf( pnt.getX() ), + fabsf( pnt.getY() ), + fabsf( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt1.getX() < 0.0f )? -fabsf( pnt0.getX() ) : fabsf( pnt0.getX() ), + ( pnt1.getY() < 0.0f )? -fabsf( pnt0.getY() ) : fabsf( pnt0.getY() ), + ( pnt1.getZ() < 0.0f )? -fabsf( pnt0.getZ() ) : fabsf( pnt0.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() > pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() > pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() > pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float maxElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() > pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() > result)? pnt.getZ() : result; + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() < pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() < pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() < pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float minElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() < pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() < result)? pnt.getZ() : result; + return result; +} + +inline float sum( const Point3 & pnt ) +{ + float result; + result = ( pnt.getX() + pnt.getY() ); + result = ( result + pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + float result; + result = ( pnt.getX() * unitVec.getX() ); + result = ( result + ( pnt.getY() * unitVec.getY() ) ); + result = ( result + ( pnt.getZ() * unitVec.getZ() ) ); + return result; +} + +inline float distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ) +{ + return Point3( + ( select1 )? pnt1.getX() : pnt0.getX(), + ( select1 )? pnt1.getY() : pnt0.getY(), + ( select1 )? pnt1.getZ() : pnt0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + printf( "( %f %f %f )\n", pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +inline void print( const Point3 & pnt, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vectormath_aos.h new file mode 100644 index 000000000..a99f56372 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/scalar/cpp/vectormath_aos.h @@ -0,0 +1,1809 @@ +/* + 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_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline float dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline float length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos.h new file mode 100644 index 000000000..d6b4cb0ba --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos.h @@ -0,0 +1,1833 @@ +/* + 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_MAT_AOS_C_H +#define _VECTORMATH_MAT_AOS_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_0ZB0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_C0X0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_YA00 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_Z }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X }) +#define _VECTORMATH_SHUF_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y }) +#define _VECTORMATH_SHUF_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZAY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BZX0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_0ZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A }) +#define _VECTORMATH_SHUF_Z0XB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YX0C ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_CZD0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BBY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( &result->col0, &mat->col0 ); + vmathV3Copy( &result->col1, &mat->col1 ); + vmathV3Copy( &result->col2, &mat->col2 ); +} + +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); +} + +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + vec_float4 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f); + vec_uint4 select_x = (vec_uint4)spu_maskb(0xf000); + vec_uint4 select_z = (vec_uint4)spu_maskb(0x00f0); + xyzw_2 = spu_add( unitQuat->vec128, unitQuat->vec128 ); + wwww = spu_shuffle( unitQuat->vec128, unitQuat->vec128, shuffle_wwww ); + yzxw = spu_shuffle( unitQuat->vec128, unitQuat->vec128, _VECTORMATH_SHUF_YZXW ); + zxyw = spu_shuffle( unitQuat->vec128, unitQuat->vec128, _VECTORMATH_SHUF_ZXYW ); + yzxw_2 = spu_shuffle( xyzw_2, xyzw_2, _VECTORMATH_SHUF_YZXW ); + zxyw_2 = spu_shuffle( xyzw_2, xyzw_2, _VECTORMATH_SHUF_ZXYW ); + tmp0 = spu_mul( yzxw_2, wwww ); + tmp1 = spu_nmsub( yzxw, yzxw_2, spu_splats(1.0f) ); + tmp2 = spu_mul( yzxw, xyzw_2 ); + tmp0 = spu_madd( zxyw, xyzw_2, tmp0 ); + tmp1 = spu_nmsub( zxyw, zxyw_2, tmp1 ); + tmp2 = spu_nmsub( zxyw_2, wwww, tmp2 ); + tmp3 = spu_sel( tmp0, tmp1, select_x ); + tmp4 = spu_sel( tmp1, tmp2, select_x ); + tmp5 = spu_sel( tmp2, tmp0, select_x ); + result->col0.vec128 = spu_sel( tmp3, tmp2, select_z ); + result->col1.vec128 = spu_sel( tmp4, tmp0, select_z ); + result->col2.vec128 = spu_sel( tmp5, tmp1, select_z ); +} + +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV3GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV3GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV3GetElem( vec, 2 ) ); +} + +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathM3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathM3GetCol( &tmpV3_0, mat, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col0 ); +} + +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col1 ); +} + +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Copy( result, &mat->col2 ); +} + +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ) +{ + vmathV3Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ) +{ + vmathV3MakeFromElems( result, vmathV3GetElem( &mat->col0, row ), vmathV3GetElem( &mat->col1, row ), vmathV3GetElem( &mat->col2, row ) ); +} + +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, res0, res1, res2; + tmp0 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_ZCWD ); + res0 = spu_shuffle( tmp0, mat->col1.vec128, _VECTORMATH_SHUF_XAYB ); + res1 = spu_shuffle( tmp0, mat->col1.vec128, _VECTORMATH_SHUF_ZBW0 ); + res2 = spu_shuffle( tmp1, mat->col1.vec128, _VECTORMATH_SHUF_XCY0 ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + tmp2 = _vmathVfCross( mat->col0.vec128, mat->col1.vec128 ); + tmp0 = _vmathVfCross( mat->col1.vec128, mat->col2.vec128 ); + tmp1 = _vmathVfCross( mat->col2.vec128, mat->col0.vec128 ); + dot = _vmathVfDot3( tmp2, mat->col2.vec128 ); + dot = spu_shuffle( dot, dot, (vec_uchar16)spu_splats(0x00010203) ); + invdet = recipf4( dot ); + tmp3 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_XAYB ); + tmp4 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_ZCWD ); + inv0 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_XAYB ); + inv1 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp4, tmp1, _VECTORMATH_SHUF_XCY0 ); + inv0 = spu_mul( inv0, invdet ); + inv1 = spu_mul( inv1, invdet ); + inv2 = spu_mul( inv2, invdet ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; +} + +static inline float vmathM3Determinant( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0; + vmathV3Cross( &tmpV3_0, &mat->col0, &mat->col1 ); + return vmathV3Dot( &mat->col2, &tmpV3_0 ); +} + +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Add( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3Sub( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3Neg( &result->col0, &mat->col0 ); + vmathV3Neg( &result->col1, &mat->col1 ); + vmathV3Neg( &result->col2, &mat->col2 ); +} + +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathV3AbsPerElem( &result->col0, &mat->col0 ); + vmathV3AbsPerElem( &result->col1, &mat->col1 ); + vmathV3AbsPerElem( &result->col2, &mat->col2 ); +} + +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV3ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV3ScalarMul( &result->col2, &mat->col2, scalar ); +} + +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec->vec128, vec->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( vec->vec128, vec->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( vec->vec128, vec->vec128, shuffle_zzzz ); + res = spu_mul( mat->col0.vec128, xxxx ); + res = spu_madd( mat->col1.vec128, yyyy, res ); + res = spu_madd( mat->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + VmathMatrix3 tmpResult; + vmathM3MulV3( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM3MulV3( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM3MulV3( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM3Copy( result, &tmpResult ); +} + +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ) +{ + vmathV3MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV3MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV3MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + vmathV3MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV3MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; +} + +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV3MakeZAxis( &result->col2 ); +} + +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ->vec128; + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + result->col0.vec128 = spu_mul( Z0, Y0 ); + result->col1.vec128 = spu_madd( Z1, X1, spu_mul( tmp, X0 ) ); + result->col2.vec128 = spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ); +} + +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + 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); + axis = unitVec->vec128; + sincosf4( spu_splats( radians ), &s, &c ); + xxxx = spu_shuffle( axis, axis, shuffle_xxxx ); + yyyy = spu_shuffle( axis, axis, shuffle_yyyy ); + zzzz = spu_shuffle( axis, axis, shuffle_zzzz ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + axisS = spu_mul( axis, s ); + negAxisS = negatef4( axisS ); + tmp0 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_0ZB0 ); + tmp1 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_C0X0 ); + tmp2 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_YA00 ); + tmp0 = spu_sel( tmp0, c, (vec_uint4)spu_maskb(0xf000) ); + tmp1 = spu_sel( tmp1, c, (vec_uint4)spu_maskb(0x0f00) ); + tmp2 = spu_sel( tmp2, c, (vec_uint4)spu_maskb(0x00f0) ); + result->col0.vec128 = spu_madd( spu_mul( axis, xxxx ), oneMinusC, tmp0 ); + result->col1.vec128 = spu_madd( spu_mul( axis, yyyy ), oneMinusC, tmp1 ); + result->col2.vec128 = spu_madd( spu_mul( axis, zzzz ), oneMinusC, tmp2 ); +} + +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ) +{ + vmathM3MakeFromQ( result, unitQuat ); +} + +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + result->col0.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0xf000) ); + result->col1.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x0f00) ); + result->col2.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x00f0) ); +} + +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); +} + +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ) +{ + vmathV3MulPerElem( &result->col0, &mat->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &mat->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &mat->col2, scaleVec ); +} + +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV3Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV3Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print( const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathM3GetRow( &tmpV3_0, mat, 0 ); + vmathV3Print( &tmpV3_0 ); + vmathM3GetRow( &tmpV3_1, mat, 1 ); + vmathV3Print( &tmpV3_1 ); + vmathM3GetRow( &tmpV3_2, mat, 2 ); + vmathV3Print( &tmpV3_2 ); +} + +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM3Print( mat ); +} + +#endif + +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( &result->col0, &mat->col0 ); + vmathV4Copy( &result->col1, &mat->col1 ); + vmathV4Copy( &result->col2, &mat->col2 ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ) +{ + vmathV4MakeFromScalar( &result->col0, scalar ); + vmathV4MakeFromScalar( &result->col1, scalar ); + vmathV4MakeFromScalar( &result->col2, scalar ); + vmathV4MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, &mat->col3, 1.0f ); +} + +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *_col0, const VmathVector4 *_col1, const VmathVector4 *_col2, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col0, _col0 ); + vmathV4Copy( &result->col1, _col1 ); + vmathV4Copy( &result->col2, _col2 ); + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ) +{ + vmathV4MakeFromV3Scalar( &result->col0, &mat->col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat->col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat->col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 mat; + vmathM3MakeFromQ( &mat, unitQuat ); + vmathV4MakeFromV3Scalar( &result->col0, &mat.col0, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col1, &mat.col1, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col2, &mat.col2, 0.0f ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *_col0 ) +{ + vmathV4Copy( &result->col0, _col0 ); +} + +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *_col1 ) +{ + vmathV4Copy( &result->col1, _col1 ); +} + +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *_col2 ) +{ + vmathV4Copy( &result->col2, _col2 ); +} + +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *_col3 ) +{ + vmathV4Copy( &result->col3, _col3 ); +} + +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ) +{ + vmathV4Copy( (&result->col0 + col), vec ); +} + +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ) +{ + vmathV4SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV4SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV4SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV4SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ) +{ + VmathVector4 tmpV3_0; + vmathM4GetCol( &tmpV3_0, result, col ); + vmathV4SetElem( &tmpV3_0, row, val ); + vmathM4SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ) +{ + VmathVector4 tmpV4_0; + vmathM4GetCol( &tmpV4_0, mat, col ); + return vmathV4GetElem( &tmpV4_0, row ); +} + +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col0 ); +} + +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col1 ); +} + +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col2 ); +} + +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Copy( result, &mat->col3 ); +} + +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ) +{ + vmathV4Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ) +{ + vmathV4MakeFromElems( result, vmathV4GetElem( &mat->col0, row ), vmathV4GetElem( &mat->col1, row ), vmathV4GetElem( &mat->col2, row ), vmathV4GetElem( &mat->col3, row ) ); +} + +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat->col1.vec128, mat->col3.vec128, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( mat->col1.vec128, mat->col3.vec128, _VECTORMATH_SHUF_ZCWD ); + res0 = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + res1 = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + res2 = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); + res3 = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; + result->col3.vec128 = res3; +} + +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 in0, in1, in2, in3; + vec_float4 tmp0, tmp1, tmp2, tmp3; + vec_float4 cof0, cof1, cof2, cof3; + vec_float4 t0, t1, t2, t3; + vec_float4 t01, t02, t03, t12, t23; + vec_float4 t1r, t2r; + vec_float4 t01r, t02r, t03r, t12r, t23r; + vec_float4 t1r3, t1r3r; + vec_float4 det, det1, det2, det3, invdet; + in0 = mat->col0.vec128; + in1 = mat->col1.vec128; + in2 = mat->col2.vec128; + in3 = mat->col3.vec128; + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_XAZC); /* A E C G */ + tmp1 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_XAZC); /* I M K O */ + tmp2 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_YBWD); /* B F D H */ + tmp3 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_YBWD); /* J N L P */ + t0 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_XYAB); /* A E I M */ + t1 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_XYAB); /* J N B F */ + t2 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_ZWCD); /* C G K O */ + t3 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = spu_mul(t2, t3); /* CL GP KD OH */ + t23 = spu_shuffle(t23, t23, _VECTORMATH_SHUF_YXWZ); /* GP CL OH KD */ + cof0 = spu_mul(t1, t23); /* JGP NCL BOH FKD */ + cof1 = spu_mul(t0, t23); /* AGP ECL IOH MKD */ + t23r = spu_rlqwbyte(t23, 8); /* OH KD GP CL */ + cof0 = spu_msub(t1, t23r, cof0); /* JOH NKD BGP FCL - cof0 */ + cof1 = spu_msub(t0, t23r, cof1); /* AOH EKD IGP MCL - cof1 */ + cof1 = spu_rlqwbyte(cof1, 8); /* IGP MCL AOH EKD - IOH MKD AGP ECL */ + + t12 = spu_mul(t1, t2); /* JC NG BK FO */ + t12 = spu_shuffle(t12, t12, _VECTORMATH_SHUF_YXWZ); /* NG JC FO BK */ + cof0 = spu_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + cof3 = spu_mul(t0, t12); /* ANG EJC IFO MBK */ + t12r = spu_rlqwbyte(t12, 8); /* FO BK NG JC */ + cof0 = spu_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + cof3 = spu_msub(t0, t12r, cof3); /* AFO EBK ING MJC - cof3 */ + cof3 = spu_rlqwbyte(cof3, 8); /* ING MJC AFO EBK - IFO MBK ANG EJC */ + t1r = spu_rlqwbyte(t1, 8); /* B F J N */ + t2r = spu_rlqwbyte(t2, 8); /* K O C G */ + t1r3 = spu_mul(t1r, t3); /* BL FP JD NH */ + t1r3 = spu_shuffle(t1r3, t1r3, _VECTORMATH_SHUF_YXWZ); /* FP BL NH JD */ + cof0 = spu_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + cof2 = spu_mul(t0, t1r3); /* AFP EBL INH MJD */ + t1r3r = spu_rlqwbyte(t1r3, 8); /* NH JD FP BL */ + cof0 = spu_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + cof2 = spu_msub(t0, t1r3r, cof2); /* ANH EJD IFP MBL - cof2 */ + cof2 = spu_rlqwbyte(cof2, 8); /* IFP MBL ANH EJD - INH MJD AFP EBL */ + t01 = spu_mul(t0, t1); /* AJ EN IB MF */ + t01 = spu_shuffle(t01, t01, _VECTORMATH_SHUF_YXWZ); /* EN AJ MF IB */ + cof2 = spu_madd(t3, t01, cof2); /* LEN PAJ DMF HIB + cof2 */ + cof3 = spu_msub(t2r, t01, cof3); /* KEN OAJ CMF GIB - cof3 */ + t01r = spu_rlqwbyte(t01, 8); /* MF IB EN AJ */ + cof2 = spu_msub(t3, t01r, cof2); /* LMF PIB DEN HAJ - cof2 */ + cof3 = spu_nmsub(t2r, t01r, cof3); /* cof3 - KMF OIB CEN GAJ */ + t03 = spu_mul(t0, t3); /* AL EP ID MH */ + t03 = spu_shuffle(t03, t03, _VECTORMATH_SHUF_YXWZ); /* EP AL MH ID */ + cof1 = spu_nmsub(t2r, t03, cof1); /* cof1 - KEP OAL CMH GID */ + cof2 = spu_madd(t1, t03, cof2); /* JEP NAL BMH FID + cof2 */ + t03r = spu_rlqwbyte(t03, 8); /* MH ID EP AL */ + cof1 = spu_madd(t2r, t03r, cof1); /* KMH OID CEP GAL + cof1 */ + cof2 = spu_nmsub(t1, t03r, cof2); /* cof2 - JMH NID BEP FAL */ + t02 = spu_mul(t0, t2r); /* AK EO IC MG */ + t02 = spu_shuffle(t02, t02, _VECTORMATH_SHUF_YXWZ); /* E0 AK MG IC */ + cof1 = spu_madd(t3, t02, cof1); /* LEO PAK DMG HIC + cof1 */ + cof3 = spu_nmsub(t1, t02, cof3); /* cof3 - JEO NAK BMG FIC */ + t02r = spu_rlqwbyte(t02, 8); /* MG IC EO AK */ + cof1 = spu_nmsub(t3, t02r, cof1); /* cof1 - LMG PIC DEO HAK */ + cof3 = spu_madd(t1, t02r, cof3); /* JMG NIC BEO FAK + cof3 */ + /* Compute the determinant of the matrix + * + * det = sum_across(t0 * cof0); + * + * We perform a sum across the entire vector so that + * we don't have to splat the result when multiplying the + * cofactors by the inverse of the determinant. + */ + det = spu_mul(t0, cof0); + det1 = spu_rlqwbyte(det, 4); + det2 = spu_rlqwbyte(det, 8); + det3 = spu_rlqwbyte(det, 12); + det = spu_add(det, det1); + det2 = spu_add(det2, det3); + det = spu_add(det, det2); + /* Compute the reciprocal of the determinant. + */ + invdet = recipf4(det); + /* Multiply the cofactors by the reciprocal of the determinant. + */ + result->col0.vec128 = spu_mul(cof0, invdet); + result->col1.vec128 = spu_mul(cof1, invdet); + result->col2.vec128 = spu_mul(cof2, invdet); + result->col3.vec128 = spu_mul(cof3, invdet); +} + +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3Inverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + VmathTransform3 affineMat, tmpT3_0; + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathT3SetCol0( &affineMat, &tmpV3_0 ); + vmathV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathT3SetCol1( &affineMat, &tmpV3_1 ); + vmathV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathT3SetCol2( &affineMat, &tmpV3_2 ); + vmathV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathT3SetCol3( &affineMat, &tmpV3_3 ); + vmathT3OrthoInverse( &tmpT3_0, &affineMat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline float vmathM4Determinant( const VmathMatrix4 *mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 in0, in1, in2, in3; + vec_float4 tmp0, tmp1, tmp2, tmp3; + vec_float4 cof0; + vec_float4 t0, t1, t2, t3; + vec_float4 t12, t23; + vec_float4 t1r, t2r; + vec_float4 t12r, t23r; + vec_float4 t1r3, t1r3r; + in0 = mat->col0.vec128; + in1 = mat->col1.vec128; + in2 = mat->col2.vec128; + in3 = mat->col3.vec128; + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_XAZC); /* A E C G */ + tmp1 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_XAZC); /* I M K O */ + tmp2 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_YBWD); /* B F D H */ + tmp3 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_YBWD); /* J N L P */ + t0 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_XYAB); /* A E I M */ + t1 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_XYAB); /* J N B F */ + t2 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_ZWCD); /* C G K O */ + t3 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = spu_mul(t2, t3); /* CL GP KD OH */ + t23 = spu_shuffle(t23, t23, _VECTORMATH_SHUF_YXWZ); /* GP CL OH KD */ + cof0 = spu_mul(t1, t23); /* JGP NCL BOH FKD */ + t23r = spu_rlqwbyte(t23, 8); /* OH KD GP CL */ + cof0 = spu_msub(t1, t23r, cof0); /* JOH NKD BGP FCL - cof0 */ + + t12 = spu_mul(t1, t2); /* JC NG BK FO */ + t12 = spu_shuffle(t12, t12, _VECTORMATH_SHUF_YXWZ); /* NG JC FO BK */ + cof0 = spu_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + t12r = spu_rlqwbyte(t12, 8); /* FO BK NG JC */ + cof0 = spu_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + t1r = spu_rlqwbyte(t1, 8); /* B F J N */ + t2r = spu_rlqwbyte(t2, 8); /* K O C G */ + t1r3 = spu_mul(t1r, t3); /* BL FP JD NH */ + t1r3 = spu_shuffle(t1r3, t1r3, _VECTORMATH_SHUF_YXWZ); /* FP BL NH JD */ + cof0 = spu_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + t1r3r = spu_rlqwbyte(t1r3, 8); /* NH JD FP BL */ + cof0 = spu_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + return spu_extract( _vmathVfDot4(t0,cof0), 0 ); +} + +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Add( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Add( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4Sub( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4Sub( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4Neg( &result->col0, &mat->col0 ); + vmathV4Neg( &result->col1, &mat->col1 ); + vmathV4Neg( &result->col2, &mat->col2 ); + vmathV4Neg( &result->col3, &mat->col3 ); +} + +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathV4AbsPerElem( &result->col0, &mat->col0 ); + vmathV4AbsPerElem( &result->col1, &mat->col1 ); + vmathV4AbsPerElem( &result->col2, &mat->col2 ); + vmathV4AbsPerElem( &result->col3, &mat->col3 ); +} + +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, scalar ); + vmathV4ScalarMul( &result->col1, &mat->col1, scalar ); + vmathV4ScalarMul( &result->col2, &mat->col2, scalar ); + vmathV4ScalarMul( &result->col3, &mat->col3, scalar ); +} + +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz, wwww; + 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); + xxxx = spu_shuffle( vec->vec128, vec->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( vec->vec128, vec->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( vec->vec128, vec->vec128, shuffle_zzzz ); + wwww = spu_shuffle( vec->vec128, vec->vec128, shuffle_wwww ); + tmp0 = spu_mul( mat->col0.vec128, xxxx ); + tmp1 = spu_mul( mat->col1.vec128, yyyy ); + tmp0 = spu_madd( mat->col2.vec128, zzzz, tmp0 ); + tmp1 = spu_madd( mat->col3.vec128, wwww, tmp1 ); + res = spu_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec->vec128, vec->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( vec->vec128, vec->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( vec->vec128, vec->vec128, shuffle_zzzz ); + res = spu_mul( mat->col0.vec128, xxxx ); + res = spu_madd( mat->col1.vec128, yyyy, res ); + res = spu_madd( mat->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_zzzz ); + tmp0 = spu_mul( mat->col0.vec128, xxxx ); + tmp1 = spu_mul( mat->col1.vec128, yyyy ); + tmp0 = spu_madd( mat->col2.vec128, zzzz, tmp0 ); + tmp1 = spu_add( mat->col3.vec128, tmp1 ); + res = spu_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + VmathMatrix4 tmpResult; + vmathM4MulV4( &tmpResult.col0, mat0, &mat1->col0 ); + vmathM4MulV4( &tmpResult.col1, mat0, &mat1->col1 ); + vmathM4MulV4( &tmpResult.col2, mat0, &mat1->col2 ); + vmathM4MulV4( &tmpResult.col3, mat0, &mat1->col3 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm1 ) +{ + VmathMatrix4 tmpResult; + VmathPoint3 tmpP3_0; + vmathM4MulV3( &tmpResult.col0, mat, &tfrm1->col0 ); + vmathM4MulV3( &tmpResult.col1, mat, &tfrm1->col1 ); + vmathM4MulV3( &tmpResult.col2, mat, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathM4MulP3( &tmpResult.col3, mat, &tmpP3_0 ); + vmathM4Copy( result, &tmpResult ); +} + +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ) +{ + vmathV4MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathV4MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathV4MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); + vmathV4MulPerElem( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ) +{ + vmathV4SetXYZ( &result->col0, &mat3->col0 ); + vmathV4SetXYZ( &result->col1, &mat3->col1 ); + vmathV4SetXYZ( &result->col2, &mat3->col2 ); +} + +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( &result->col0, &mat->col0 ); + vmathV4GetXYZ( &result->col1, &mat->col1 ); + vmathV4GetXYZ( &result->col2, &mat->col2 ); +} + +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4SetXYZ( &result->col3, translateVec ); +} + +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ) +{ + vmathV4GetXYZ( result, &mat->col3 ); +} + +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + vmathV4MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV4MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ->vec128; + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + result->col0.vec128 = spu_mul( Z0, Y0 ); + result->col1.vec128 = spu_madd( Z1, X1, spu_mul( tmp, X0 ) ); + result->col2.vec128 = spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2, zeroW; + 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); + axis = unitVec->vec128; + sincosf4( spu_splats( radians ), &s, &c ); + xxxx = spu_shuffle( axis, axis, shuffle_xxxx ); + yyyy = spu_shuffle( axis, axis, shuffle_yyyy ); + zzzz = spu_shuffle( axis, axis, shuffle_zzzz ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + axisS = spu_mul( axis, s ); + negAxisS = negatef4( axisS ); + tmp0 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_0ZB0 ); + tmp1 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_C0X0 ); + tmp2 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_YA00 ); + tmp0 = spu_sel( tmp0, c, (vec_uint4)spu_maskb(0xf000) ); + tmp1 = spu_sel( tmp1, c, (vec_uint4)spu_maskb(0x0f00) ); + tmp2 = spu_sel( tmp2, c, (vec_uint4)spu_maskb(0x00f0) ); + zeroW = (vec_float4)spu_maskb(0x000f); + axis = spu_andc( axis, zeroW ); + result->col0.vec128 = spu_madd( spu_mul( axis, xxxx ), oneMinusC, tmp0 ); + result->col1.vec128 = spu_madd( spu_mul( axis, yyyy ), oneMinusC, tmp1 ); + result->col2.vec128 = spu_madd( spu_mul( axis, zzzz ), oneMinusC, tmp2 ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ) +{ + VmathTransform3 tmpT3_0; + vmathT3MakeRotationQ( &tmpT3_0, unitQuat ); + vmathM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + result->col0.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0xf000) ); + result->col1.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x0f00) ); + result->col2.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x00f0) ); + vmathV4MakeWAxis( &result->col3 ); +} + +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ) +{ + vmathV4ScalarMul( &result->col0, &mat->col0, vmathV3GetX( scaleVec ) ); + vmathV4ScalarMul( &result->col1, &mat->col1, vmathV3GetY( scaleVec ) ); + vmathV4ScalarMul( &result->col2, &mat->col2, vmathV3GetZ( scaleVec ) ); + vmathV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ) +{ + VmathVector4 scale4; + vmathV4MakeFromV3Scalar( &scale4, scaleVec, 1.0f ); + vmathV4MulPerElem( &result->col0, &mat->col0, &scale4 ); + vmathV4MulPerElem( &result->col1, &mat->col1, &scale4 ); + vmathV4MulPerElem( &result->col2, &mat->col2, &scale4 ); + vmathV4MulPerElem( &result->col3, &mat->col3, &scale4 ); +} + +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ) +{ + vmathV4MakeXAxis( &result->col0 ); + vmathV4MakeYAxis( &result->col1 ); + vmathV4MakeZAxis( &result->col2 ); + vmathV4MakeFromV3Scalar( &result->col3, translateVec, 1.0f ); +} + +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ) +{ + VmathMatrix4 m4EyeFrame; + VmathVector3 v3X, v3Y, v3Z, tmpV3_0, tmpV3_1; + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathV3Normalize( &v3Y, upVec ); + vmathP3Sub( &tmpV3_0, eyePos, lookAtPos ); + vmathV3Normalize( &v3Z, &tmpV3_0 ); + vmathV3Cross( &tmpV3_1, &v3Y, &v3Z ); + vmathV3Normalize( &v3X, &tmpV3_1 ); + vmathV3Cross( &v3Y, &v3Z, &v3X ); + vmathV4MakeFromV3( &tmpV4_0, &v3X ); + vmathV4MakeFromV3( &tmpV4_1, &v3Y ); + vmathV4MakeFromV3( &tmpV4_2, &v3Z ); + vmathV4MakeFromP3( &tmpV4_3, eyePos ); + vmathM4MakeFromCols( &m4EyeFrame, &tmpV4_0, &tmpV4_1, &tmpV4_2, &tmpV4_3 ); + vmathM4OrthoInverse( result, &m4EyeFrame ); +} + +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + vec_float4 zero, col0, col1, col2, col3; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = spu_splats(0.0f); + col0 = zero; + col1 = zero; + col2 = zero; + col3 = zero; + col0 = spu_insert( f / aspect, col0, 0 ); + col1 = spu_insert( f, col1, 1 ); + col2 = spu_insert( ( zNear + zFar ) * rangeInv, col2, 2 ); + col2 = spu_insert( -1.0f, col2, 3 ); + col3 = spu_insert( zNear * zFar * rangeInv * 2.0f, col3, 2 ); + result->col0.vec128 = col0; + result->col1.vec128 = col1; + result->col2.vec128 = col2; + result->col3.vec128 = col3; +} + +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff; + vec_float4 diagonal, column, near2; + vec_float4 zero = spu_splats(0.0f); + lbf = spu_shuffle( spu_promote(left,0), spu_promote(zFar,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( spu_promote(right,0), spu_promote(zNear,0), _VECTORMATH_SHUF_XAYB ); + lbf = spu_shuffle( lbf, spu_promote(bottom,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( rtn, spu_promote(top,0), _VECTORMATH_SHUF_XAYB ); + diff = spu_sub( rtn, lbf ); + sum = spu_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = spu_splats( zNear ); + near2 = spu_add( near2, near2 ); + diagonal = spu_mul( near2, inv_diff ); + column = spu_mul( sum, inv_diff ); + result->col0.vec128 = spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0xf000) ); + result->col1.vec128 = spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x0f00) ); + result->col2.vec128 = spu_sel( column, spu_splats(-1.0f), (vec_uint4)spu_maskb(0x000f) ); + result->col3.vec128 = spu_sel( zero, spu_mul( diagonal, spu_splats(zFar) ), (vec_uint4)spu_maskb(0x00f0) ); +} + +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff, neg_inv_diff; + vec_float4 diagonal, column; + vec_float4 zero = spu_splats(0.0f); + lbf = spu_shuffle( spu_promote(left,0), spu_promote(zFar,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( spu_promote(right,0), spu_promote(zNear,0), _VECTORMATH_SHUF_XAYB ); + lbf = spu_shuffle( lbf, spu_promote(bottom,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( rtn, spu_promote(top,0), _VECTORMATH_SHUF_XAYB ); + diff = spu_sub( rtn, lbf ); + sum = spu_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = spu_add( inv_diff, inv_diff ); + column = spu_mul( sum, spu_sel( neg_inv_diff, inv_diff, (vec_uint4)spu_maskb(0x00f0) ) ); + result->col0.vec128 = spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0xf000) ); + result->col1.vec128 = spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x0f00) ); + result->col2.vec128 = spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x00f0) ); + result->col3.vec128 = spu_sel( column, spu_splats(1.0f), (vec_uint4)spu_maskb(0x000f) ); +} + +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ) +{ + vmathV4Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathV4Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathV4Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); + vmathV4Select( &result->col3, &mat0->col3, &mat1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print( const VmathMatrix4 *mat ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathM4GetRow( &tmpV4_0, mat, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathM4GetRow( &tmpV4_1, mat, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathM4GetRow( &tmpV4_2, mat, 2 ); + vmathV4Print( &tmpV4_2 ); + vmathM4GetRow( &tmpV4_3, mat, 3 ); + vmathV4Print( &tmpV4_3 ); +} + +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathM4Print( mat ); +} + +#endif + +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ) +{ + vmathV3MakeFromScalar( &result->col0, scalar ); + vmathV3MakeFromScalar( &result->col1, scalar ); + vmathV3MakeFromScalar( &result->col2, scalar ); + vmathV3MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *_col0, const VmathVector3 *_col1, const VmathVector3 *_col2, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col0, _col0 ); + vmathV3Copy( &result->col1, _col1 ); + vmathV3Copy( &result->col2, _col2 ); + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ) +{ + vmathT3SetUpper3x3( result, tfrm ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ) +{ + VmathMatrix3 tmpM3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathT3SetUpper3x3( result, &tmpM3_0 ); + vmathT3SetTranslation( result, translateVec ); +} + +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *_col0 ) +{ + vmathV3Copy( &result->col0, _col0 ); +} + +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *_col1 ) +{ + vmathV3Copy( &result->col1, _col1 ); +} + +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *_col2 ) +{ + vmathV3Copy( &result->col2, _col2 ); +} + +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *_col3 ) +{ + vmathV3Copy( &result->col3, _col3 ); +} + +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ) +{ + vmathV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ) +{ + vmathV3SetElem( &result->col0, row, vmathV4GetElem( vec, 0 ) ); + vmathV3SetElem( &result->col1, row, vmathV4GetElem( vec, 1 ) ); + vmathV3SetElem( &result->col2, row, vmathV4GetElem( vec, 2 ) ); + vmathV3SetElem( &result->col3, row, vmathV4GetElem( vec, 3 ) ); +} + +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, result, col ); + vmathV3SetElem( &tmpV3_0, row, val ); + vmathT3SetCol( result, col, &tmpV3_0 ); +} + +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ) +{ + VmathVector3 tmpV3_0; + vmathT3GetCol( &tmpV3_0, tfrm, col ); + return vmathV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col0 ); +} + +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col1 ); +} + +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col2 ); +} + +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ) +{ + vmathV3Copy( result, (&tfrm->col0 + col) ); +} + +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ) +{ + vmathV4MakeFromElems( result, vmathV3GetElem( &tfrm->col0, row ), vmathV3GetElem( &tfrm->col1, row ), vmathV3GetElem( &tfrm->col2, row ), vmathV3GetElem( &tfrm->col3, row ) ); +} + +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp2 = _vmathVfCross( tfrm->col0.vec128, tfrm->col1.vec128 ); + tmp0 = _vmathVfCross( tfrm->col1.vec128, tfrm->col2.vec128 ); + tmp1 = _vmathVfCross( tfrm->col2.vec128, tfrm->col0.vec128 ); + inv3 = negatef4( tfrm->col3.vec128 ); + dot = _vmathVfDot3( tmp2, tfrm->col2.vec128 ); + dot = spu_shuffle( dot, dot, shuffle_xxxx ); + invdet = recipf4( dot ); + tmp3 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_XAYB ); + tmp4 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_ZCWD ); + inv0 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_XAYB ); + xxxx = spu_shuffle( inv3, inv3, shuffle_xxxx ); + inv1 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp4, tmp1, _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( inv3, inv3, shuffle_yyyy ); + zzzz = spu_shuffle( inv3, inv3, shuffle_zzzz ); + inv3 = spu_mul( inv0, xxxx ); + inv3 = spu_madd( inv1, yyyy, inv3 ); + inv3 = spu_madd( inv2, zzzz, inv3 ); + inv0 = spu_mul( inv0, invdet ); + inv1 = spu_mul( inv1, invdet ); + inv2 = spu_mul( inv2, invdet ); + inv3 = spu_mul( inv3, invdet ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; + result->col3.vec128 = inv3; +} + +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp0 = spu_shuffle( tfrm->col0.vec128, tfrm->col2.vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( tfrm->col0.vec128, tfrm->col2.vec128, _VECTORMATH_SHUF_ZCWD ); + inv3 = negatef4( tfrm->col3.vec128 ); + inv0 = spu_shuffle( tmp0, tfrm->col1.vec128, _VECTORMATH_SHUF_XAYB ); + xxxx = spu_shuffle( inv3, inv3, shuffle_xxxx ); + inv1 = spu_shuffle( tmp0, tfrm->col1.vec128, _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp1, tfrm->col1.vec128, _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( inv3, inv3, shuffle_yyyy ); + zzzz = spu_shuffle( inv3, inv3, shuffle_zzzz ); + inv3 = spu_mul( inv0, xxxx ); + inv3 = spu_madd( inv1, yyyy, inv3 ); + inv3 = spu_madd( inv2, zzzz, inv3 ); + result->col0.vec128 = inv0; + result->col1.vec128 = inv1; + result->col2.vec128 = inv2; + result->col3.vec128 = inv3; +} + +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3AbsPerElem( &result->col0, &tfrm->col0 ); + vmathV3AbsPerElem( &result->col1, &tfrm->col1 ); + vmathV3AbsPerElem( &result->col2, &tfrm->col2 ); + vmathV3AbsPerElem( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ) +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec->vec128, vec->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( vec->vec128, vec->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( vec->vec128, vec->vec128, shuffle_zzzz ); + res = spu_mul( tfrm->col0.vec128, xxxx ); + res = spu_madd( tfrm->col1.vec128, yyyy, res ); + res = spu_madd( tfrm->col2.vec128, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ) +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_xxxx ); + yyyy = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_yyyy ); + zzzz = spu_shuffle( pnt->vec128, pnt->vec128, shuffle_zzzz ); + tmp0 = spu_mul( tfrm->col0.vec128, xxxx ); + tmp1 = spu_mul( tfrm->col1.vec128, yyyy ); + tmp0 = spu_madd( tfrm->col2.vec128, zzzz, tmp0 ); + tmp1 = spu_add( tfrm->col3.vec128, tmp1 ); + res = spu_add( tmp0, tmp1 ); + result->vec128 = res; +} + +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + VmathTransform3 tmpResult; + VmathPoint3 tmpP3_0, tmpP3_1; + vmathT3MulV3( &tmpResult.col0, tfrm0, &tfrm1->col0 ); + vmathT3MulV3( &tmpResult.col1, tfrm0, &tfrm1->col1 ); + vmathT3MulV3( &tmpResult.col2, tfrm0, &tfrm1->col2 ); + vmathP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathT3MulP3( &tmpP3_1, tfrm0, &tmpP3_0 ); + vmathV3MakeFromP3( &tmpResult.col3, &tmpP3_1 ); + vmathT3Copy( result, &tmpResult ); +} + +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ) +{ + vmathV3MulPerElem( &result->col0, &tfrm0->col0, &tfrm1->col0 ); + vmathV3MulPerElem( &result->col1, &tfrm0->col1, &tfrm1->col1 ); + vmathV3MulPerElem( &result->col2, &tfrm0->col2, &tfrm1->col2 ); + vmathV3MulPerElem( &result->col3, &tfrm0->col3, &tfrm1->col3 ); +} + +static inline void vmathT3MakeIdentity( VmathTransform3 *result ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *tfrm ) +{ + vmathV3Copy( &result->col0, &tfrm->col0 ); + vmathV3Copy( &result->col1, &tfrm->col1 ); + vmathV3Copy( &result->col2, &tfrm->col2 ); +} + +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ) +{ + vmathM3MakeFromCols( result, &tfrm->col0, &tfrm->col1, &tfrm->col2 ); +} + +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ) +{ + vmathV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + vmathV3MakeXAxis( &result->col0 ); + result->col1.vec128 = res1; + result->col2.vec128 = res2; + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + result->col0.vec128 = res0; + vmathV3MakeYAxis( &result->col1 ); + result->col2.vec128 = res2; + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + vmathV3MakeZAxis( &result->col2 ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ->vec128; + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + result->col0.vec128 = spu_mul( Z0, Y0 ); + result->col1.vec128 = spu_madd( Z1, X1, spu_mul( tmp, X0 ) ); + result->col2.vec128 = spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeRotationAxis( &tmpM3_0, radians, unitVec ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ) +{ + VmathMatrix3 tmpM3_0; + VmathVector3 tmpV3_0; + vmathM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathV3MakeFromScalar( &tmpV3_0, 0.0f ); + vmathT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + result->col0.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0xf000) ); + result->col1.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x0f00) ); + result->col2.vec128 = spu_sel( zero, scaleVec->vec128, (vec_uint4)spu_maskb(0x00f0) ); + vmathV3MakeFromScalar( &result->col3, 0.0f ); +} + +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ) +{ + vmathV3ScalarMul( &result->col0, &tfrm->col0, vmathV3GetX( scaleVec ) ); + vmathV3ScalarMul( &result->col1, &tfrm->col1, vmathV3GetY( scaleVec ) ); + vmathV3ScalarMul( &result->col2, &tfrm->col2, vmathV3GetZ( scaleVec ) ); + vmathV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ) +{ + vmathV3MulPerElem( &result->col0, &tfrm->col0, scaleVec ); + vmathV3MulPerElem( &result->col1, &tfrm->col1, scaleVec ); + vmathV3MulPerElem( &result->col2, &tfrm->col2, scaleVec ); + vmathV3MulPerElem( &result->col3, &tfrm->col3, scaleVec ); +} + +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ) +{ + vmathV3MakeXAxis( &result->col0 ); + vmathV3MakeYAxis( &result->col1 ); + vmathV3MakeZAxis( &result->col2 ); + vmathV3Copy( &result->col3, translateVec ); +} + +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ) +{ + vmathV3Select( &result->col0, &tfrm0->col0, &tfrm1->col0, select1 ); + vmathV3Select( &result->col1, &tfrm0->col1, &tfrm1->col1, select1 ); + vmathV3Select( &result->col2, &tfrm0->col2, &tfrm1->col2, select1 ); + vmathV3Select( &result->col3, &tfrm0->col3, &tfrm1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print( const VmathTransform3 *tfrm ) +{ + VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2; + vmathT3GetRow( &tmpV4_0, tfrm, 0 ); + vmathV4Print( &tmpV4_0 ); + vmathT3GetRow( &tmpV4_1, tfrm, 1 ); + vmathV4Print( &tmpV4_1 ); + vmathT3GetRow( &tmpV4_2, tfrm, 2 ); + vmathV4Print( &tmpV4_2 ); +} + +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ) +{ + printf("%s:\n", name); + vmathT3Print( tfrm ); +} + +#endif + +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *tfrm ) +{ + vec_float4 res; + vec_float4 col0, col1, col2; + vec_float4 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + vec_float4 zy_xz_yx, yz_zx_xy, sum, diff; + vec_float4 radicand, invSqrt, scale; + vec_float4 res0, res1, res2, res3; + vec_float4 xx, yy, zz; + vec_uint4 select_x = (vec_uint4)spu_maskb( 0xf000 ); + vec_uint4 select_y = (vec_uint4)spu_maskb( 0x0f00 ); + vec_uint4 select_z = (vec_uint4)spu_maskb( 0x00f0 ); + vec_uint4 select_w = (vec_uint4)spu_maskb( 0x000f ); + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((unsigned int)0x00010203); + vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((unsigned int)0x04050607); + vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((unsigned int)0x08090a0b); + vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((unsigned int)0x0c0d0e0f); + + col0 = tfrm->col0.vec128; + col1 = tfrm->col1.vec128; + col2 = tfrm->col2.vec128; + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = spu_sel( col0, col1, select_y ); + xx_yy_zz_xx = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_XYCX ); + yy_zz_xx_yy = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_YCXY ); + zz_xx_yy_zz = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_CXYC ); + + diagSum = spu_add( spu_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = spu_sub( spu_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = spu_add( spu_sel( diagDiff, diagSum, select_w ), spu_splats(1.0f) ); + invSqrt = rsqrtf4( radicand ); + + zy_xz_yx = spu_sel( col0, col1, select_z ); + zy_xz_yx = spu_shuffle( zy_xz_yx, col2, _VECTORMATH_SHUF_ZAY0 ); + yz_zx_xy = spu_sel( col0, col1, select_x ); + yz_zx_xy = spu_shuffle( yz_zx_xy, col2, _VECTORMATH_SHUF_BZX0 ); + + sum = spu_add( zy_xz_yx, yz_zx_xy ); + diff = spu_sub( zy_xz_yx, yz_zx_xy ); + + scale = spu_mul( invSqrt, spu_splats(0.5f) ); + res0 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_0ZYA ); + res1 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_Z0XB ); + res2 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_YX0C ); + res3 = diff; + res0 = spu_sel( res0, radicand, select_x ); + res1 = spu_sel( res1, radicand, select_y ); + res2 = spu_sel( res2, radicand, select_z ); + res3 = spu_sel( res3, radicand, select_w ); + res0 = spu_mul( res0, spu_shuffle( scale, scale, shuffle_xxxx ) ); + res1 = spu_mul( res1, spu_shuffle( scale, scale, shuffle_yyyy ) ); + res2 = spu_mul( res2, spu_shuffle( scale, scale, shuffle_zzzz ) ); + res3 = spu_mul( res3, spu_shuffle( scale, scale, shuffle_wwww ) ); + + /* determine case and select answer */ + + xx = spu_shuffle( col0, col0, shuffle_xxxx ); + yy = spu_shuffle( col1, col1, shuffle_yyyy ); + zz = spu_shuffle( col2, col2, shuffle_zzzz ); + res = spu_sel( res0, res1, spu_cmpgt( yy, xx ) ); + res = spu_sel( res, res2, spu_and( spu_cmpgt( zz, xx ), spu_cmpgt( zz, yy ) ) ); + res = spu_sel( res, res3, spu_cmpgt( spu_shuffle( diagSum, diagSum, shuffle_xxxx ), spu_splats(0.0f) ) ); + result->vec128 = res; +} + +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *tfrm0, const VmathVector3 *tfrm1 ) +{ + vmathV3ScalarMul( &result->col0, tfrm0, vmathV3GetX( tfrm1 ) ); + vmathV3ScalarMul( &result->col1, tfrm0, vmathV3GetY( tfrm1 ) ); + vmathV3ScalarMul( &result->col2, tfrm0, vmathV3GetZ( tfrm1 ) ); +} + +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *tfrm0, const VmathVector4 *tfrm1 ) +{ + vmathV4ScalarMul( &result->col0, tfrm0, vmathV4GetX( tfrm1 ) ); + vmathV4ScalarMul( &result->col1, tfrm0, vmathV4GetY( tfrm1 ) ); + vmathV4ScalarMul( &result->col2, tfrm0, vmathV4GetZ( tfrm1 ) ); + vmathV4ScalarMul( &result->col3, tfrm0, vmathV4GetW( tfrm1 ) ); +} + +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + vec_float4 tmp0, tmp1, mcol0, mcol1, mcol2, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp0 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat->col0.vec128, mat->col2.vec128, _VECTORMATH_SHUF_ZCWD ); + xxxx = spu_shuffle( vec->vec128, vec->vec128, shuffle_xxxx ); + mcol0 = spu_shuffle( tmp0, mat->col1.vec128, _VECTORMATH_SHUF_XAYB ); + mcol1 = spu_shuffle( tmp0, mat->col1.vec128, _VECTORMATH_SHUF_ZBW0 ); + mcol2 = spu_shuffle( tmp1, mat->col1.vec128, _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( vec->vec128, vec->vec128, shuffle_yyyy ); + res = spu_mul( mcol0, xxxx ); + zzzz = spu_shuffle( vec->vec128, vec->vec128, shuffle_zzzz ); + res = spu_madd( mcol1, yyyy, res ); + res = spu_madd( mcol2, zzzz, res ); + result->vec128 = res; +} + +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ) +{ + vec_float4 neg, res0, res1, res2; + neg = negatef4( vec->vec128 ); + res0 = spu_shuffle( vec->vec128, neg, _VECTORMATH_SHUF_0ZB0 ); + res1 = spu_shuffle( vec->vec128, neg, _VECTORMATH_SHUF_C0X0 ); + res2 = spu_shuffle( vec->vec128, neg, _VECTORMATH_SHUF_YA00 ); + result->col0.vec128 = res0; + result->col1.vec128 = res1; + result->col2.vec128 = res2; +} + +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ) +{ + VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathV3Cross( &tmpV3_0, vec, &mat->col0 ); + vmathV3Cross( &tmpV3_1, vec, &mat->col1 ); + vmathV3Cross( &tmpV3_2, vec, &mat->col2 ); + vmathM3MakeFromCols( result, &tmpV3_0, &tmpV3_1, &tmpV3_2 ); +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos_v.h new file mode 100644 index 000000000..986612ebe --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_aos_v.h @@ -0,0 +1,1029 @@ +/* + 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_MAT_AOS_V_C_H +#define _VECTORMATH_MAT_AOS_V_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_0ZB0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_C0X0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_YA00 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_Z }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X }) +#define _VECTORMATH_SHUF_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y }) +#define _VECTORMATH_SHUF_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZAY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BZX0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_0ZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A }) +#define _VECTORMATH_SHUF_Z0XB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YX0C ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_CZD0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BBY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ) +{ + VmathMatrix3 result; + vmathM3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeFromQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2 ) +{ + VmathMatrix3 result; + vmathM3MakeFromCols(&result, &_col0, &_col1, &_col2); + return result; +} + +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 _col0 ) +{ + vmathM3SetCol0(result, &_col0); +} + +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 _col1 ) +{ + vmathM3SetCol1(result, &_col1); +} + +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 _col2 ) +{ + vmathM3SetCol2(result, &_col2); +} + +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ) +{ + vmathM3SetCol(result, col, &vec); +} + +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ) +{ + vmathM3SetRow(result, row, &vec); +} + +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ) +{ + vmathM3SetElem(result, col, row, val); +} + +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ) +{ + return vmathM3GetElem(&mat, col, row); +} + +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol0(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol1(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathM3GetCol2(&result, &mat); + return result; +} + +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ) +{ + VmathVector3 result; + vmathM3GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ) +{ + VmathVector3 result; + vmathM3GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Inverse(&result, &mat); + return result; +} + +static inline float vmathM3Determinant_V( VmathMatrix3 mat ) +{ + return vmathM3Determinant(&mat); +} + +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3Neg(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ) +{ + VmathMatrix3 result; + vmathM3ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathM3MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ) +{ + VmathMatrix3 result; + vmathM3MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix3 vmathM3MakeIdentity_V( ) +{ + VmathMatrix3 result; + vmathM3MakeIdentity(&result); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix3 result; + vmathM3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix3 result; + vmathM3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix3 result; + vmathM3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ) +{ + VmathMatrix3 result; + vmathM3AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathM3PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ) +{ + VmathMatrix3 result; + vmathM3Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM3Print_V( VmathMatrix3 mat ) +{ + vmathM3Print(&mat); +} + +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ) +{ + vmathM3Prints(&mat, name); +} + +#endif + +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ) +{ + VmathMatrix4 result; + vmathM4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ) +{ + VmathMatrix4 result; + vmathM4MakeFromT3(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 _col0, VmathVector4 _col1, VmathVector4 _col2, VmathVector4 _col3 ) +{ + VmathMatrix4 result; + vmathM4MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromM3V3(&result, &mat, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 _col0 ) +{ + vmathM4SetCol0(result, &_col0); +} + +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 _col1 ) +{ + vmathM4SetCol1(result, &_col1); +} + +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 _col2 ) +{ + vmathM4SetCol2(result, &_col2); +} + +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 _col3 ) +{ + vmathM4SetCol3(result, &_col3); +} + +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ) +{ + vmathM4SetCol(result, col, &vec); +} + +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ) +{ + vmathM4SetRow(result, row, &vec); +} + +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ) +{ + vmathM4SetElem(result, col, row, val); +} + +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ) +{ + return vmathM4GetElem(&mat, col, row); +} + +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol0(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol1(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol2(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ) +{ + VmathVector4 result; + vmathM4GetCol3(&result, &mat); + return result; +} + +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ) +{ + VmathVector4 result; + vmathM4GetCol(&result, &mat, col); + return result; +} + +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ) +{ + VmathVector4 result; + vmathM4GetRow(&result, &mat, row); + return result; +} + +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Transpose(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Inverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AffineInverse(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4OrthoInverse(&result, &mat); + return result; +} + +static inline float vmathM4Determinant_V( VmathMatrix4 mat ) +{ + return vmathM4Determinant(&mat); +} + +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4Neg(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4AbsPerElem(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ) +{ + VmathMatrix4 result; + vmathM4ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ) +{ + VmathVector4 result; + vmathM4MulV4(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ) +{ + VmathVector4 result; + vmathM4MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathM4MulP3(&result, &mat, &pnt); + return result; +} + +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm1 ) +{ + VmathMatrix4 result; + vmathM4MulT3(&result, &mat, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ) +{ + VmathMatrix4 result; + vmathM4MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathMatrix4 vmathM4MakeIdentity_V( ) +{ + VmathMatrix4 result; + vmathM4MakeIdentity(&result); + return result; +} + +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ) +{ + vmathM4SetUpper3x3(result, &mat3); +} + +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ) +{ + VmathMatrix3 result; + vmathM4GetUpper3x3(&result, &mat); + return result; +} + +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ) +{ + vmathM4SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ) +{ + VmathVector3 result; + vmathM4GetTranslation(&result, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationX(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationY(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZ(&result, radians); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathMatrix4 result; + vmathM4MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathMatrix4 result; + vmathM4MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathMatrix4 result; + vmathM4MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ) +{ + VmathMatrix4 result; + vmathM4AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ) +{ + VmathMatrix4 result; + vmathM4PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathMatrix4 result; + vmathM4MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ) +{ + VmathMatrix4 result; + vmathM4MakeLookAt(&result, &eyePos, &lookAtPos, &upVec); + return result; +} + +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakePerspective(&result, fovyRadians, aspect, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeFrustum(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + VmathMatrix4 result; + vmathM4MakeOrthographic(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ) +{ + VmathMatrix4 result; + vmathM4Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathM4Print_V( VmathMatrix4 mat ) +{ + vmathM4Print(&mat); +} + +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ) +{ + vmathM4Prints(&mat, name); +} + +#endif + +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ) +{ + VmathTransform3 result; + vmathT3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 _col0, VmathVector3 _col1, VmathVector3 _col2, VmathVector3 _col3 ) +{ + VmathTransform3 result; + vmathT3MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromM3V3(&result, &tfrm, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 _col0 ) +{ + vmathT3SetCol0(result, &_col0); +} + +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 _col1 ) +{ + vmathT3SetCol1(result, &_col1); +} + +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 _col2 ) +{ + vmathT3SetCol2(result, &_col2); +} + +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 _col3 ) +{ + vmathT3SetCol3(result, &_col3); +} + +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ) +{ + vmathT3SetCol(result, col, &vec); +} + +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ) +{ + vmathT3SetRow(result, row, &vec); +} + +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ) +{ + vmathT3SetElem(result, col, row, val); +} + +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ) +{ + return vmathT3GetElem(&tfrm, col, row); +} + +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol0(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol1(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol2(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetCol3(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ) +{ + VmathVector3 result; + vmathT3GetCol(&result, &tfrm, col); + return result; +} + +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ) +{ + VmathVector4 result; + vmathT3GetRow(&result, &tfrm, row); + return result; +} + +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3Inverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3OrthoInverse(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3AbsPerElem(&result, &tfrm); + return result; +} + +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ) +{ + VmathVector3 result; + vmathT3MulV3(&result, &tfrm, &vec); + return result; +} + +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathT3MulP3(&result, &tfrm, &pnt); + return result; +} + +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3Mul(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ) +{ + VmathTransform3 result; + vmathT3MulPerElem(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathTransform3 vmathT3MakeIdentity_V( ) +{ + VmathTransform3 result; + vmathT3MakeIdentity(&result); + return result; +} + +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 tfrm ) +{ + vmathT3SetUpper3x3(result, &tfrm); +} + +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ) +{ + VmathMatrix3 result; + vmathT3GetUpper3x3(&result, &tfrm); + return result; +} + +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ) +{ + vmathT3SetTranslation(result, &translateVec); +} + +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ) +{ + VmathVector3 result; + vmathT3GetTranslation(&result, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationX(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationY(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ) +{ + VmathTransform3 result; + vmathT3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ) +{ + VmathTransform3 result; + vmathT3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathTransform3 result; + vmathT3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ) +{ + VmathTransform3 result; + vmathT3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ) +{ + VmathTransform3 result; + vmathT3AppendScale(&result, &tfrm, &scaleVec); + return result; +} + +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ) +{ + VmathTransform3 result; + vmathT3PrependScale(&result, &scaleVec, &tfrm); + return result; +} + +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ) +{ + VmathTransform3 result; + vmathT3MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ) +{ + VmathTransform3 result; + vmathT3Select(&result, &tfrm0, &tfrm1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathT3Print_V( VmathTransform3 tfrm ) +{ + vmathT3Print(&tfrm); +} + +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ) +{ + vmathT3Prints(&tfrm, name); +} + +#endif + +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 tfrm ) +{ + VmathQuat result; + vmathQMakeFromM3(&result, &tfrm); + return result; +} + +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 tfrm0, VmathVector3 tfrm1 ) +{ + VmathMatrix3 result; + vmathV3Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 tfrm0, VmathVector4 tfrm1 ) +{ + VmathMatrix4 result; + vmathV4Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathVector3 result; + vmathV3RowMul(&result, &vec, &mat); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ) +{ + VmathMatrix3 result; + vmathV3CrossMatrix(&result, &vec); + return result; +} + +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ) +{ + VmathMatrix3 result; + vmathV3CrossMatrixMul(&result, &vec, &mat); + return result; +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa.h new file mode 100644 index 000000000..c2c3734e0 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa.h @@ -0,0 +1,1493 @@ +/* + 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_MAT_SOA_C_H +#define _VECTORMATH_MAT_SOA_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline void vmathSoaM3Copy( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( &result->col0, &mat->col0 ); + vmathSoaV3Copy( &result->col1, &mat->col1 ); + vmathSoaV3Copy( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3MakeFromScalar( VmathSoaMatrix3 *result, vec_float4 scalar ) +{ + vmathSoaV3MakeFromScalar( &result->col0, scalar ); + vmathSoaV3MakeFromScalar( &result->col1, scalar ); + vmathSoaV3MakeFromScalar( &result->col2, scalar ); +} + +static inline void vmathSoaM3MakeFromQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ) +{ + vec_float4 qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat->x; + qy = unitQuat->y; + qz = unitQuat->z; + qw = unitQuat->w; + qx2 = spu_add( qx, qx ); + qy2 = spu_add( qy, qy ); + qz2 = spu_add( qz, qz ); + qxqx2 = spu_mul( qx, qx2 ); + qxqy2 = spu_mul( qx, qy2 ); + qxqz2 = spu_mul( qx, qz2 ); + qxqw2 = spu_mul( qw, qx2 ); + qyqy2 = spu_mul( qy, qy2 ); + qyqz2 = spu_mul( qy, qz2 ); + qyqw2 = spu_mul( qw, qy2 ); + qzqz2 = spu_mul( qz, qz2 ); + qzqw2 = spu_mul( qw, qz2 ); + vmathSoaV3MakeFromElems( &result->col0, spu_sub( spu_sub( spu_splats(1.0f), qyqy2 ), qzqz2 ), spu_add( qxqy2, qzqw2 ), spu_sub( qxqz2, qyqw2 ) ); + vmathSoaV3MakeFromElems( &result->col1, spu_sub( qxqy2, qzqw2 ), spu_sub( spu_sub( spu_splats(1.0f), qxqx2 ), qzqz2 ), spu_add( qyqz2, qxqw2 ) ); + vmathSoaV3MakeFromElems( &result->col2, spu_add( qxqz2, qyqw2 ), spu_sub( qyqz2, qxqw2 ), spu_sub( spu_sub( spu_splats(1.0f), qxqx2 ), qyqy2 ) ); +} + +static inline void vmathSoaM3MakeFromCols( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col0, const VmathSoaVector3 *_col1, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); + vmathSoaV3Copy( &result->col1, _col1 ); + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM3MakeFromAos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat ) +{ + vmathSoaV3MakeFromAos( &result->col0, &mat->col0 ); + vmathSoaV3MakeFromAos( &result->col1, &mat->col1 ); + vmathSoaV3MakeFromAos( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3MakeFrom4Aos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, const VmathMatrix3 *mat2, const VmathMatrix3 *mat3 ) +{ + vmathSoaV3MakeFrom4Aos( &result->col0, &mat0->col0, &mat1->col0, &mat2->col0, &mat3->col0 ); + vmathSoaV3MakeFrom4Aos( &result->col1, &mat0->col1, &mat1->col1, &mat2->col1, &mat3->col1 ); + vmathSoaV3MakeFrom4Aos( &result->col2, &mat0->col2, &mat1->col2, &mat2->col2, &mat3->col2 ); +} + +static inline void vmathSoaM3Get4Aos( const VmathSoaMatrix3 *mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ) +{ + vmathSoaV3Get4Aos( &mat->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV3Get4Aos( &mat->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV3Get4Aos( &mat->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); +} + +static inline void vmathSoaM3SetCol0( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col0 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaM3SetCol1( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col1 ) +{ + vmathSoaV3Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaM3SetCol2( VmathSoaMatrix3 *result, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM3SetCol( VmathSoaMatrix3 *result, int col, const VmathSoaVector3 *vec ) +{ + vmathSoaV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaM3SetRow( VmathSoaMatrix3 *result, int row, const VmathSoaVector3 *vec ) +{ + vmathSoaV3SetElem( &result->col0, row, vmathSoaV3GetElem( vec, 0 ) ); + vmathSoaV3SetElem( &result->col1, row, vmathSoaV3GetElem( vec, 1 ) ); + vmathSoaV3SetElem( &result->col2, row, vmathSoaV3GetElem( vec, 2 ) ); +} + +static inline void vmathSoaM3SetElem( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaM3GetCol( &tmpV3_0, result, col ); + vmathSoaV3SetElem( &tmpV3_0, row, val ); + vmathSoaM3SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaM3GetElem( const VmathSoaMatrix3 *mat, int col, int row ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaM3GetCol( &tmpV3_0, mat, col ); + return vmathSoaV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathSoaM3GetCol0( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col0 ); +} + +static inline void vmathSoaM3GetCol1( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col1 ); +} + +static inline void vmathSoaM3GetCol2( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Copy( result, &mat->col2 ); +} + +static inline void vmathSoaM3GetCol( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int col ) +{ + vmathSoaV3Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathSoaM3GetRow( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int row ) +{ + vmathSoaV3MakeFromElems( result, vmathSoaV3GetElem( &mat->col0, row ), vmathSoaV3GetElem( &mat->col1, row ), vmathSoaV3GetElem( &mat->col2, row ) ); +} + +static inline void vmathSoaM3Transpose( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + VmathSoaMatrix3 tmpResult; + vmathSoaV3MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x ); + vmathSoaV3MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y ); + vmathSoaV3MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z ); + vmathSoaM3Copy( result, &tmpResult ); +} + +static inline void vmathSoaM3Inverse( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmp0, tmp1, tmp2; + vec_float4 detinv; + vmathSoaV3Cross( &tmp0, &mat->col1, &mat->col2 ); + vmathSoaV3Cross( &tmp1, &mat->col2, &mat->col0 ); + vmathSoaV3Cross( &tmp2, &mat->col0, &mat->col1 ); + detinv = recipf4( vmathSoaV3Dot( &mat->col2, &tmp2 ) ); + vmathSoaV3MakeFromElems( &result->col0, spu_mul( tmp0.x, detinv ), spu_mul( tmp1.x, detinv ), spu_mul( tmp2.x, detinv ) ); + vmathSoaV3MakeFromElems( &result->col1, spu_mul( tmp0.y, detinv ), spu_mul( tmp1.y, detinv ), spu_mul( tmp2.y, detinv ) ); + vmathSoaV3MakeFromElems( &result->col2, spu_mul( tmp0.z, detinv ), spu_mul( tmp1.z, detinv ), spu_mul( tmp2.z, detinv ) ); +} + +static inline vec_float4 vmathSoaM3Determinant( const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3Cross( &tmpV3_0, &mat->col0, &mat->col1 ); + return vmathSoaV3Dot( &mat->col2, &tmpV3_0 ); +} + +static inline void vmathSoaM3Add( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3Add( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3Sub( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3Sub( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3Neg( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3Neg( &result->col0, &mat->col0 ); + vmathSoaV3Neg( &result->col1, &mat->col1 ); + vmathSoaV3Neg( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3AbsPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3AbsPerElem( &result->col0, &mat->col0 ); + vmathSoaV3AbsPerElem( &result->col1, &mat->col1 ); + vmathSoaV3AbsPerElem( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM3ScalarMul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, vec_float4 scalar ) +{ + vmathSoaV3ScalarMul( &result->col0, &mat->col0, scalar ); + vmathSoaV3ScalarMul( &result->col1, &mat->col1, scalar ); + vmathSoaV3ScalarMul( &result->col2, &mat->col2, scalar ); +} + +static inline void vmathSoaM3MulV3( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = spu_add( spu_add( spu_mul( mat->col0.x, vec->x ), spu_mul( mat->col1.x, vec->y ) ), spu_mul( mat->col2.x, vec->z ) ); + tmpY = spu_add( spu_add( spu_mul( mat->col0.y, vec->x ), spu_mul( mat->col1.y, vec->y ) ), spu_mul( mat->col2.y, vec->z ) ); + tmpZ = spu_add( spu_add( spu_mul( mat->col0.z, vec->x ), spu_mul( mat->col1.z, vec->y ) ), spu_mul( mat->col2.z, vec->z ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaM3Mul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + VmathSoaMatrix3 tmpResult; + vmathSoaM3MulV3( &tmpResult.col0, mat0, &mat1->col0 ); + vmathSoaM3MulV3( &tmpResult.col1, mat0, &mat1->col1 ); + vmathSoaM3MulV3( &tmpResult.col2, mat0, &mat1->col2 ); + vmathSoaM3Copy( result, &tmpResult ); +} + +static inline void vmathSoaM3MulPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ) +{ + vmathSoaV3MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV3MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV3MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); +} + +static inline void vmathSoaM3MakeIdentity( VmathSoaMatrix3 *result ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); +} + +static inline void vmathSoaM3MakeRotationX( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeFromElems( &result->col1, spu_splats(0.0f), c, s ); + vmathSoaV3MakeFromElems( &result->col2, spu_splats(0.0f), negatef4( s ), c ); +} + +static inline void vmathSoaM3MakeRotationY( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, spu_splats(0.0f), negatef4( s ) ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeFromElems( &result->col2, s, spu_splats(0.0f), c ); +} + +static inline void vmathSoaM3MakeRotationZ( VmathSoaMatrix3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, s, spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( s ), c, spu_splats(0.0f) ); + vmathSoaV3MakeZAxis( &result->col2 ); +} + +static inline void vmathSoaM3MakeRotationZYX( VmathSoaMatrix3 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + vmathSoaV3MakeFromElems( &result->col0, spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ) ); + vmathSoaV3MakeFromElems( &result->col1, spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ) ); + vmathSoaV3MakeFromElems( &result->col2, spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ) ); +} + +static inline void vmathSoaM3MakeRotationAxis( VmathSoaMatrix3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = spu_mul( x, y ); + yz = spu_mul( y, z ); + zx = spu_mul( z, x ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + vmathSoaV3MakeFromElems( &result->col0, spu_add( spu_mul( spu_mul( x, x ), oneMinusC ), c ), spu_add( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_sub( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ) ); + vmathSoaV3MakeFromElems( &result->col1, spu_sub( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_add( spu_mul( spu_mul( y, y ), oneMinusC ), c ), spu_add( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ) ); + vmathSoaV3MakeFromElems( &result->col2, spu_add( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_sub( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_add( spu_mul( spu_mul( z, z ), oneMinusC ), c ) ); +} + +static inline void vmathSoaM3MakeRotationQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ) +{ + vmathSoaM3MakeFromQ( result, unitQuat ); +} + +static inline void vmathSoaM3MakeScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3MakeFromElems( &result->col0, scaleVec->x, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col1, spu_splats(0.0f), scaleVec->y, spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col2, spu_splats(0.0f), spu_splats(0.0f), scaleVec->z ); +} + +static inline void vmathSoaM3AppendScale( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3ScalarMul( &result->col0, &mat->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col1, &mat->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col2, &mat->col2, vmathSoaV3GetZ( scaleVec ) ); +} + +static inline void vmathSoaM3PrependScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix3 *mat ) +{ + vmathSoaV3MulPerElem( &result->col0, &mat->col0, scaleVec ); + vmathSoaV3MulPerElem( &result->col1, &mat->col1, scaleVec ); + vmathSoaV3MulPerElem( &result->col2, &mat->col2, scaleVec ); +} + +static inline void vmathSoaM3Select( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1, vec_uint4 select1 ) +{ + vmathSoaV3Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathSoaV3Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathSoaV3Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM3Print( const VmathSoaMatrix3 *mat ) +{ + VmathMatrix3 mat0, mat1, mat2, mat3; + vmathSoaM3Get4Aos( mat, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathM3Print( &mat0 ); + printf("slot 1:\n"); + vmathM3Print( &mat1 ); + printf("slot 2:\n"); + vmathM3Print( &mat2 ); + printf("slot 3:\n"); + vmathM3Print( &mat3 ); +} + +static inline void vmathSoaM3Prints( const VmathSoaMatrix3 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathSoaM3Print( mat ); +} + +#endif + +static inline void vmathSoaM4Copy( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( &result->col0, &mat->col0 ); + vmathSoaV4Copy( &result->col1, &mat->col1 ); + vmathSoaV4Copy( &result->col2, &mat->col2 ); + vmathSoaV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4MakeFromScalar( VmathSoaMatrix4 *result, vec_float4 scalar ) +{ + vmathSoaV4MakeFromScalar( &result->col0, scalar ); + vmathSoaV4MakeFromScalar( &result->col1, scalar ); + vmathSoaV4MakeFromScalar( &result->col2, scalar ); + vmathSoaV4MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathSoaM4MakeFromT3( VmathSoaMatrix4 *result, const VmathSoaTransform3 *mat ) +{ + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat->col0, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat->col1, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat->col2, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, &mat->col3, spu_splats(1.0f) ); +} + +static inline void vmathSoaM4MakeFromCols( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col0, const VmathSoaVector4 *_col1, const VmathSoaVector4 *_col2, const VmathSoaVector4 *_col3 ) +{ + vmathSoaV4Copy( &result->col0, _col0 ); + vmathSoaV4Copy( &result->col1, _col1 ); + vmathSoaV4Copy( &result->col2, _col2 ); + vmathSoaV4Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaM4MakeFromM3V3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat->col0, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat->col1, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat->col2, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, spu_splats(1.0f) ); +} + +static inline void vmathSoaM4MakeFromQV3( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ) +{ + VmathSoaMatrix3 mat; + vmathSoaM3MakeFromQ( &mat, unitQuat ); + vmathSoaV4MakeFromV3Scalar( &result->col0, &mat.col0, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col1, &mat.col1, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col2, &mat.col2, spu_splats(0.0f) ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, spu_splats(1.0f) ); +} + +static inline void vmathSoaM4MakeFromAos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat ) +{ + vmathSoaV4MakeFromAos( &result->col0, &mat->col0 ); + vmathSoaV4MakeFromAos( &result->col1, &mat->col1 ); + vmathSoaV4MakeFromAos( &result->col2, &mat->col2 ); + vmathSoaV4MakeFromAos( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4MakeFrom4Aos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, const VmathMatrix4 *mat2, const VmathMatrix4 *mat3 ) +{ + vmathSoaV4MakeFrom4Aos( &result->col0, &mat0->col0, &mat1->col0, &mat2->col0, &mat3->col0 ); + vmathSoaV4MakeFrom4Aos( &result->col1, &mat0->col1, &mat1->col1, &mat2->col1, &mat3->col1 ); + vmathSoaV4MakeFrom4Aos( &result->col2, &mat0->col2, &mat1->col2, &mat2->col2, &mat3->col2 ); + vmathSoaV4MakeFrom4Aos( &result->col3, &mat0->col3, &mat1->col3, &mat2->col3, &mat3->col3 ); +} + +static inline void vmathSoaM4Get4Aos( const VmathSoaMatrix4 *mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ) +{ + vmathSoaV4Get4Aos( &mat->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV4Get4Aos( &mat->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV4Get4Aos( &mat->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); + vmathSoaV4Get4Aos( &mat->col3, &result0->col3, &result1->col3, &result2->col3, &result3->col3 ); +} + +static inline void vmathSoaM4SetCol0( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col0 ) +{ + vmathSoaV4Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaM4SetCol1( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col1 ) +{ + vmathSoaV4Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaM4SetCol2( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col2 ) +{ + vmathSoaV4Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaM4SetCol3( VmathSoaMatrix4 *result, const VmathSoaVector4 *_col3 ) +{ + vmathSoaV4Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaM4SetCol( VmathSoaMatrix4 *result, int col, const VmathSoaVector4 *vec ) +{ + vmathSoaV4Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaM4SetRow( VmathSoaMatrix4 *result, int row, const VmathSoaVector4 *vec ) +{ + vmathSoaV4SetElem( &result->col0, row, vmathSoaV4GetElem( vec, 0 ) ); + vmathSoaV4SetElem( &result->col1, row, vmathSoaV4GetElem( vec, 1 ) ); + vmathSoaV4SetElem( &result->col2, row, vmathSoaV4GetElem( vec, 2 ) ); + vmathSoaV4SetElem( &result->col3, row, vmathSoaV4GetElem( vec, 3 ) ); +} + +static inline void vmathSoaM4SetElem( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector4 tmpV3_0; + vmathSoaM4GetCol( &tmpV3_0, result, col ); + vmathSoaV4SetElem( &tmpV3_0, row, val ); + vmathSoaM4SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaM4GetElem( const VmathSoaMatrix4 *mat, int col, int row ) +{ + VmathSoaVector4 tmpV4_0; + vmathSoaM4GetCol( &tmpV4_0, mat, col ); + return vmathSoaV4GetElem( &tmpV4_0, row ); +} + +static inline void vmathSoaM4GetCol0( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col0 ); +} + +static inline void vmathSoaM4GetCol1( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col1 ); +} + +static inline void vmathSoaM4GetCol2( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col2 ); +} + +static inline void vmathSoaM4GetCol3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Copy( result, &mat->col3 ); +} + +static inline void vmathSoaM4GetCol( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int col ) +{ + vmathSoaV4Copy( result, (&mat->col0 + col) ); +} + +static inline void vmathSoaM4GetRow( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int row ) +{ + vmathSoaV4MakeFromElems( result, vmathSoaV4GetElem( &mat->col0, row ), vmathSoaV4GetElem( &mat->col1, row ), vmathSoaV4GetElem( &mat->col2, row ), vmathSoaV4GetElem( &mat->col3, row ) ); +} + +static inline void vmathSoaM4Transpose( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaMatrix4 tmpResult; + vmathSoaV4MakeFromElems( &tmpResult.col0, mat->col0.x, mat->col1.x, mat->col2.x, mat->col3.x ); + vmathSoaV4MakeFromElems( &tmpResult.col1, mat->col0.y, mat->col1.y, mat->col2.y, mat->col3.y ); + vmathSoaV4MakeFromElems( &tmpResult.col2, mat->col0.z, mat->col1.z, mat->col2.z, mat->col3.z ); + vmathSoaV4MakeFromElems( &tmpResult.col3, mat->col0.w, mat->col1.w, mat->col2.w, mat->col3.w ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4Inverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaVector4 res0, res1, res2, res3; + vec_float4 mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = spu_sub( spu_mul( mK, mD ), spu_mul( mC, mL ) ); + tmp1 = spu_sub( spu_mul( mO, mH ), spu_mul( mG, mP ) ); + tmp2 = spu_sub( spu_mul( mB, mK ), spu_mul( mJ, mC ) ); + tmp3 = spu_sub( spu_mul( mF, mO ), spu_mul( mN, mG ) ); + tmp4 = spu_sub( spu_mul( mJ, mD ), spu_mul( mB, mL ) ); + tmp5 = spu_sub( spu_mul( mN, mH ), spu_mul( mF, mP ) ); + vmathSoaV4SetX( &res0, spu_sub( spu_sub( spu_mul( mJ, tmp1 ), spu_mul( mL, tmp3 ) ), spu_mul( mK, tmp5 ) ) ); + vmathSoaV4SetY( &res0, spu_sub( spu_sub( spu_mul( mN, tmp0 ), spu_mul( mP, tmp2 ) ), spu_mul( mO, tmp4 ) ) ); + vmathSoaV4SetZ( &res0, spu_sub( spu_add( spu_mul( mD, tmp3 ), spu_mul( mC, tmp5 ) ), spu_mul( mB, tmp1 ) ) ); + vmathSoaV4SetW( &res0, spu_sub( spu_add( spu_mul( mH, tmp2 ), spu_mul( mG, tmp4 ) ), spu_mul( mF, tmp0 ) ) ); + detInv = recipf4( spu_add( spu_add( spu_add( spu_mul( mA, res0.x ), spu_mul( mE, res0.y ) ), spu_mul( mI, res0.z ) ), spu_mul( mM, res0.w ) ) ); + vmathSoaV4SetX( &res1, spu_mul( mI, tmp1 ) ); + vmathSoaV4SetY( &res1, spu_mul( mM, tmp0 ) ); + vmathSoaV4SetZ( &res1, spu_mul( mA, tmp1 ) ); + vmathSoaV4SetW( &res1, spu_mul( mE, tmp0 ) ); + vmathSoaV4SetX( &res3, spu_mul( mI, tmp3 ) ); + vmathSoaV4SetY( &res3, spu_mul( mM, tmp2 ) ); + vmathSoaV4SetZ( &res3, spu_mul( mA, tmp3 ) ); + vmathSoaV4SetW( &res3, spu_mul( mE, tmp2 ) ); + vmathSoaV4SetX( &res2, spu_mul( mI, tmp5 ) ); + vmathSoaV4SetY( &res2, spu_mul( mM, tmp4 ) ); + vmathSoaV4SetZ( &res2, spu_mul( mA, tmp5 ) ); + vmathSoaV4SetW( &res2, spu_mul( mE, tmp4 ) ); + tmp0 = spu_sub( spu_mul( mI, mB ), spu_mul( mA, mJ ) ); + tmp1 = spu_sub( spu_mul( mM, mF ), spu_mul( mE, mN ) ); + tmp2 = spu_sub( spu_mul( mI, mD ), spu_mul( mA, mL ) ); + tmp3 = spu_sub( spu_mul( mM, mH ), spu_mul( mE, mP ) ); + tmp4 = spu_sub( spu_mul( mI, mC ), spu_mul( mA, mK ) ); + tmp5 = spu_sub( spu_mul( mM, mG ), spu_mul( mE, mO ) ); + vmathSoaV4SetX( &res2, spu_add( spu_sub( spu_mul( mL, tmp1 ), spu_mul( mJ, tmp3 ) ), res2.x ) ); + vmathSoaV4SetY( &res2, spu_add( spu_sub( spu_mul( mP, tmp0 ), spu_mul( mN, tmp2 ) ), res2.y ) ); + vmathSoaV4SetZ( &res2, spu_sub( spu_sub( spu_mul( mB, tmp3 ), spu_mul( mD, tmp1 ) ), res2.z ) ); + vmathSoaV4SetW( &res2, spu_sub( spu_sub( spu_mul( mF, tmp2 ), spu_mul( mH, tmp0 ) ), res2.w ) ); + vmathSoaV4SetX( &res3, spu_add( spu_sub( spu_mul( mJ, tmp5 ), spu_mul( mK, tmp1 ) ), res3.x ) ); + vmathSoaV4SetY( &res3, spu_add( spu_sub( spu_mul( mN, tmp4 ), spu_mul( mO, tmp0 ) ), res3.y ) ); + vmathSoaV4SetZ( &res3, spu_sub( spu_sub( spu_mul( mC, tmp1 ), spu_mul( mB, tmp5 ) ), res3.z ) ); + vmathSoaV4SetW( &res3, spu_sub( spu_sub( spu_mul( mG, tmp0 ), spu_mul( mF, tmp4 ) ), res3.w ) ); + vmathSoaV4SetX( &res1, spu_sub( spu_sub( spu_mul( mK, tmp3 ), spu_mul( mL, tmp5 ) ), res1.x ) ); + vmathSoaV4SetY( &res1, spu_sub( spu_sub( spu_mul( mO, tmp2 ), spu_mul( mP, tmp4 ) ), res1.y ) ); + vmathSoaV4SetZ( &res1, spu_add( spu_sub( spu_mul( mD, tmp5 ), spu_mul( mC, tmp3 ) ), res1.z ) ); + vmathSoaV4SetW( &res1, spu_add( spu_sub( spu_mul( mH, tmp4 ), spu_mul( mG, tmp2 ) ), res1.w ) ); + vmathSoaV4ScalarMul( &result->col0, &res0, detInv ); + vmathSoaV4ScalarMul( &result->col1, &res1, detInv ); + vmathSoaV4ScalarMul( &result->col2, &res2, detInv ); + vmathSoaV4ScalarMul( &result->col3, &res3, detInv ); +} + +static inline void vmathSoaM4AffineInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaTransform3 affineMat, tmpT3_0; + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathSoaV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathSoaT3SetCol0( &affineMat, &tmpV3_0 ); + vmathSoaV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathSoaT3SetCol1( &affineMat, &tmpV3_1 ); + vmathSoaV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathSoaT3SetCol2( &affineMat, &tmpV3_2 ); + vmathSoaV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathSoaT3SetCol3( &affineMat, &tmpV3_3 ); + vmathSoaT3Inverse( &tmpT3_0, &affineMat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathSoaM4OrthoInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + VmathSoaTransform3 affineMat, tmpT3_0; + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + vmathSoaV4GetXYZ( &tmpV3_0, &mat->col0 ); + vmathSoaT3SetCol0( &affineMat, &tmpV3_0 ); + vmathSoaV4GetXYZ( &tmpV3_1, &mat->col1 ); + vmathSoaT3SetCol1( &affineMat, &tmpV3_1 ); + vmathSoaV4GetXYZ( &tmpV3_2, &mat->col2 ); + vmathSoaT3SetCol2( &affineMat, &tmpV3_2 ); + vmathSoaV4GetXYZ( &tmpV3_3, &mat->col3 ); + vmathSoaT3SetCol3( &affineMat, &tmpV3_3 ); + vmathSoaT3OrthoInverse( &tmpT3_0, &affineMat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline vec_float4 vmathSoaM4Determinant( const VmathSoaMatrix4 *mat ) +{ + vec_float4 dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat->col0.x; + mB = mat->col0.y; + mC = mat->col0.z; + mD = mat->col0.w; + mE = mat->col1.x; + mF = mat->col1.y; + mG = mat->col1.z; + mH = mat->col1.w; + mI = mat->col2.x; + mJ = mat->col2.y; + mK = mat->col2.z; + mL = mat->col2.w; + mM = mat->col3.x; + mN = mat->col3.y; + mO = mat->col3.z; + mP = mat->col3.w; + tmp0 = spu_sub( spu_mul( mK, mD ), spu_mul( mC, mL ) ); + tmp1 = spu_sub( spu_mul( mO, mH ), spu_mul( mG, mP ) ); + tmp2 = spu_sub( spu_mul( mB, mK ), spu_mul( mJ, mC ) ); + tmp3 = spu_sub( spu_mul( mF, mO ), spu_mul( mN, mG ) ); + tmp4 = spu_sub( spu_mul( mJ, mD ), spu_mul( mB, mL ) ); + tmp5 = spu_sub( spu_mul( mN, mH ), spu_mul( mF, mP ) ); + dx = spu_sub( spu_sub( spu_mul( mJ, tmp1 ), spu_mul( mL, tmp3 ) ), spu_mul( mK, tmp5 ) ); + dy = spu_sub( spu_sub( spu_mul( mN, tmp0 ), spu_mul( mP, tmp2 ) ), spu_mul( mO, tmp4 ) ); + dz = spu_sub( spu_add( spu_mul( mD, tmp3 ), spu_mul( mC, tmp5 ) ), spu_mul( mB, tmp1 ) ); + dw = spu_sub( spu_add( spu_mul( mH, tmp2 ), spu_mul( mG, tmp4 ) ), spu_mul( mF, tmp0 ) ); + return spu_add( spu_add( spu_add( spu_mul( mA, dx ), spu_mul( mE, dy ) ), spu_mul( mI, dz ) ), spu_mul( mM, dw ) ); +} + +static inline void vmathSoaM4Add( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4Add( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4Add( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4Add( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4Add( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4Sub( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4Sub( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4Sub( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4Sub( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4Sub( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4Neg( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4Neg( &result->col0, &mat->col0 ); + vmathSoaV4Neg( &result->col1, &mat->col1 ); + vmathSoaV4Neg( &result->col2, &mat->col2 ); + vmathSoaV4Neg( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4AbsPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4AbsPerElem( &result->col0, &mat->col0 ); + vmathSoaV4AbsPerElem( &result->col1, &mat->col1 ); + vmathSoaV4AbsPerElem( &result->col2, &mat->col2 ); + vmathSoaV4AbsPerElem( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4ScalarMul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, vec_float4 scalar ) +{ + vmathSoaV4ScalarMul( &result->col0, &mat->col0, scalar ); + vmathSoaV4ScalarMul( &result->col1, &mat->col1, scalar ); + vmathSoaV4ScalarMul( &result->col2, &mat->col2, scalar ); + vmathSoaV4ScalarMul( &result->col3, &mat->col3, scalar ); +} + +static inline void vmathSoaM4MulV4( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector4 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = spu_add( spu_add( spu_add( spu_mul( mat->col0.x, vec->x ), spu_mul( mat->col1.x, vec->y ) ), spu_mul( mat->col2.x, vec->z ) ), spu_mul( mat->col3.x, vec->w ) ); + tmpY = spu_add( spu_add( spu_add( spu_mul( mat->col0.y, vec->x ), spu_mul( mat->col1.y, vec->y ) ), spu_mul( mat->col2.y, vec->z ) ), spu_mul( mat->col3.y, vec->w ) ); + tmpZ = spu_add( spu_add( spu_add( spu_mul( mat->col0.z, vec->x ), spu_mul( mat->col1.z, vec->y ) ), spu_mul( mat->col2.z, vec->z ) ), spu_mul( mat->col3.z, vec->w ) ); + tmpW = spu_add( spu_add( spu_add( spu_mul( mat->col0.w, vec->x ), spu_mul( mat->col1.w, vec->y ) ), spu_mul( mat->col2.w, vec->z ) ), spu_mul( mat->col3.w, vec->w ) ); + vmathSoaV4MakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathSoaM4MulV3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *vec ) +{ + result->x = spu_add( spu_add( spu_mul( mat->col0.x, vec->x ), spu_mul( mat->col1.x, vec->y ) ), spu_mul( mat->col2.x, vec->z ) ); + result->y = spu_add( spu_add( spu_mul( mat->col0.y, vec->x ), spu_mul( mat->col1.y, vec->y ) ), spu_mul( mat->col2.y, vec->z ) ); + result->z = spu_add( spu_add( spu_mul( mat->col0.z, vec->x ), spu_mul( mat->col1.z, vec->y ) ), spu_mul( mat->col2.z, vec->z ) ); + result->w = spu_add( spu_add( spu_mul( mat->col0.w, vec->x ), spu_mul( mat->col1.w, vec->y ) ), spu_mul( mat->col2.w, vec->z ) ); +} + +static inline void vmathSoaM4MulP3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaPoint3 *pnt ) +{ + result->x = spu_add( spu_add( spu_add( spu_mul( mat->col0.x, pnt->x ), spu_mul( mat->col1.x, pnt->y ) ), spu_mul( mat->col2.x, pnt->z ) ), mat->col3.x ); + result->y = spu_add( spu_add( spu_add( spu_mul( mat->col0.y, pnt->x ), spu_mul( mat->col1.y, pnt->y ) ), spu_mul( mat->col2.y, pnt->z ) ), mat->col3.y ); + result->z = spu_add( spu_add( spu_add( spu_mul( mat->col0.z, pnt->x ), spu_mul( mat->col1.z, pnt->y ) ), spu_mul( mat->col2.z, pnt->z ) ), mat->col3.z ); + result->w = spu_add( spu_add( spu_add( spu_mul( mat->col0.w, pnt->x ), spu_mul( mat->col1.w, pnt->y ) ), spu_mul( mat->col2.w, pnt->z ) ), mat->col3.w ); +} + +static inline void vmathSoaM4Mul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + VmathSoaMatrix4 tmpResult; + vmathSoaM4MulV4( &tmpResult.col0, mat0, &mat1->col0 ); + vmathSoaM4MulV4( &tmpResult.col1, mat0, &mat1->col1 ); + vmathSoaM4MulV4( &tmpResult.col2, mat0, &mat1->col2 ); + vmathSoaM4MulV4( &tmpResult.col3, mat0, &mat1->col3 ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4MulT3( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaTransform3 *tfrm1 ) +{ + VmathSoaMatrix4 tmpResult; + VmathSoaPoint3 tmpP3_0; + vmathSoaM4MulV3( &tmpResult.col0, mat, &tfrm1->col0 ); + vmathSoaM4MulV3( &tmpResult.col1, mat, &tfrm1->col1 ); + vmathSoaM4MulV3( &tmpResult.col2, mat, &tfrm1->col2 ); + vmathSoaP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathSoaM4MulP3( &tmpResult.col3, mat, &tmpP3_0 ); + vmathSoaM4Copy( result, &tmpResult ); +} + +static inline void vmathSoaM4MulPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ) +{ + vmathSoaV4MulPerElem( &result->col0, &mat0->col0, &mat1->col0 ); + vmathSoaV4MulPerElem( &result->col1, &mat0->col1, &mat1->col1 ); + vmathSoaV4MulPerElem( &result->col2, &mat0->col2, &mat1->col2 ); + vmathSoaV4MulPerElem( &result->col3, &mat0->col3, &mat1->col3 ); +} + +static inline void vmathSoaM4MakeIdentity( VmathSoaMatrix4 *result ) +{ + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4SetUpper3x3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat3 ) +{ + vmathSoaV4SetXYZ( &result->col0, &mat3->col0 ); + vmathSoaV4SetXYZ( &result->col1, &mat3->col1 ); + vmathSoaV4SetXYZ( &result->col2, &mat3->col2 ); +} + +static inline void vmathSoaM4GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4GetXYZ( &result->col0, &mat->col0 ); + vmathSoaV4GetXYZ( &result->col1, &mat->col1 ); + vmathSoaV4GetXYZ( &result->col2, &mat->col2 ); +} + +static inline void vmathSoaM4SetTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4SetXYZ( &result->col3, translateVec ); +} + +static inline void vmathSoaM4GetTranslation( VmathSoaVector3 *result, const VmathSoaMatrix4 *mat ) +{ + vmathSoaV4GetXYZ( result, &mat->col3 ); +} + +static inline void vmathSoaM4MakeRotationX( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeFromElems( &result->col1, spu_splats(0.0f), c, s, spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_splats(0.0f), negatef4( s ), c, spu_splats(0.0f) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationY( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeFromElems( &result->col0, c, spu_splats(0.0f), negatef4( s ), spu_splats(0.0f) ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeFromElems( &result->col2, s, spu_splats(0.0f), c, spu_splats(0.0f) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationZ( VmathSoaMatrix4 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV4MakeFromElems( &result->col0, c, s, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, negatef4( s ), c, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationZYX( VmathSoaMatrix4 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + vmathSoaV4MakeFromElems( &result->col0, spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ), spu_splats(0.0f) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationAxis( VmathSoaMatrix4 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec->x; + y = unitVec->y; + z = unitVec->z; + xy = spu_mul( x, y ); + yz = spu_mul( y, z ); + zx = spu_mul( z, x ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + vmathSoaV4MakeFromElems( &result->col0, spu_add( spu_mul( spu_mul( x, x ), oneMinusC ), c ), spu_add( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_sub( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_sub( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_add( spu_mul( spu_mul( y, y ), oneMinusC ), c ), spu_add( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_add( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_sub( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_add( spu_mul( spu_mul( z, z ), oneMinusC ), c ), spu_splats(0.0f) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4MakeRotationQ( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat ) +{ + VmathSoaTransform3 tmpT3_0; + vmathSoaT3MakeRotationQ( &tmpT3_0, unitQuat ); + vmathSoaM4MakeFromT3( result, &tmpT3_0 ); +} + +static inline void vmathSoaM4MakeScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV4MakeFromElems( &result->col0, scaleVec->x, spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_splats(0.0f), scaleVec->y, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_splats(0.0f), spu_splats(0.0f), scaleVec->z, spu_splats(0.0f) ); + vmathSoaV4MakeWAxis( &result->col3 ); +} + +static inline void vmathSoaM4AppendScale( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV4ScalarMul( &result->col0, &mat->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV4ScalarMul( &result->col1, &mat->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV4ScalarMul( &result->col2, &mat->col2, vmathSoaV3GetZ( scaleVec ) ); + vmathSoaV4Copy( &result->col3, &mat->col3 ); +} + +static inline void vmathSoaM4PrependScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix4 *mat ) +{ + VmathSoaVector4 scale4; + vmathSoaV4MakeFromV3Scalar( &scale4, scaleVec, spu_splats(1.0f) ); + vmathSoaV4MulPerElem( &result->col0, &mat->col0, &scale4 ); + vmathSoaV4MulPerElem( &result->col1, &mat->col1, &scale4 ); + vmathSoaV4MulPerElem( &result->col2, &mat->col2, &scale4 ); + vmathSoaV4MulPerElem( &result->col3, &mat->col3, &scale4 ); +} + +static inline void vmathSoaM4MakeTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV4MakeXAxis( &result->col0 ); + vmathSoaV4MakeYAxis( &result->col1 ); + vmathSoaV4MakeZAxis( &result->col2 ); + vmathSoaV4MakeFromV3Scalar( &result->col3, translateVec, spu_splats(1.0f) ); +} + +static inline void vmathSoaM4MakeLookAt( VmathSoaMatrix4 *result, const VmathSoaPoint3 *eyePos, const VmathSoaPoint3 *lookAtPos, const VmathSoaVector3 *upVec ) +{ + VmathSoaMatrix4 m4EyeFrame; + VmathSoaVector3 v3X, v3Y, v3Z, tmpV3_0, tmpV3_1; + VmathSoaVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + vmathSoaV3Normalize( &v3Y, upVec ); + vmathSoaP3Sub( &tmpV3_0, eyePos, lookAtPos ); + vmathSoaV3Normalize( &v3Z, &tmpV3_0 ); + vmathSoaV3Cross( &tmpV3_1, &v3Y, &v3Z ); + vmathSoaV3Normalize( &v3X, &tmpV3_1 ); + vmathSoaV3Cross( &v3Y, &v3Z, &v3X ); + vmathSoaV4MakeFromV3( &tmpV4_0, &v3X ); + vmathSoaV4MakeFromV3( &tmpV4_1, &v3Y ); + vmathSoaV4MakeFromV3( &tmpV4_2, &v3Z ); + vmathSoaV4MakeFromP3( &tmpV4_3, eyePos ); + vmathSoaM4MakeFromCols( &m4EyeFrame, &tmpV4_0, &tmpV4_1, &tmpV4_2, &tmpV4_3 ); + vmathSoaM4OrthoInverse( result, &m4EyeFrame ); +} + +static inline void vmathSoaM4MakePerspective( VmathSoaMatrix4 *result, vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 f, rangeInv; + f = tanf4( spu_sub( spu_splats( _VECTORMATH_PI_OVER_2 ), spu_mul( spu_splats(0.5f), fovyRadians ) ) ); + rangeInv = recipf4( spu_sub( zNear, zFar ) ); + vmathSoaV4MakeFromElems( &result->col0, divf4( f, aspect ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_splats(0.0f), f, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_add( zNear, zFar ), rangeInv ), spu_splats(-1.0f) ); + vmathSoaV4MakeFromElems( &result->col3, spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_mul( spu_mul( zNear, zFar ), rangeInv ), spu_splats(2.0f) ), spu_splats(0.0f) ); +} + +static inline void vmathSoaM4MakeFrustum( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = spu_add( right, left ); + sum_tb = spu_add( top, bottom ); + sum_nf = spu_add( zNear, zFar ); + inv_rl = recipf4( spu_sub( right, left ) ); + inv_tb = recipf4( spu_sub( top, bottom ) ); + inv_nf = recipf4( spu_sub( zNear, zFar ) ); + n2 = spu_add( zNear, zNear ); + vmathSoaV4MakeFromElems( &result->col0, spu_mul( n2, inv_rl ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_splats(0.0f), spu_mul( n2, inv_tb ), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_mul( sum_rl, inv_rl ), spu_mul( sum_tb, inv_tb ), spu_mul( sum_nf, inv_nf ), spu_splats(-1.0f) ); + vmathSoaV4MakeFromElems( &result->col3, spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_mul( n2, inv_nf ), zFar ), spu_splats(0.0f) ); +} + +static inline void vmathSoaM4MakeOrthographic( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = spu_add( right, left ); + sum_tb = spu_add( top, bottom ); + sum_nf = spu_add( zNear, zFar ); + inv_rl = recipf4( spu_sub( right, left ) ); + inv_tb = recipf4( spu_sub( top, bottom ) ); + inv_nf = recipf4( spu_sub( zNear, zFar ) ); + vmathSoaV4MakeFromElems( &result->col0, spu_add( inv_rl, inv_rl ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col1, spu_splats(0.0f), spu_add( inv_tb, inv_tb ), spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col2, spu_splats(0.0f), spu_splats(0.0f), spu_add( inv_nf, inv_nf ), spu_splats(0.0f) ); + vmathSoaV4MakeFromElems( &result->col3, spu_mul( negatef4( sum_rl ), inv_rl ), spu_mul( negatef4( sum_tb ), inv_tb ), spu_mul( sum_nf, inv_nf ), spu_splats(1.0f) ); +} + +static inline void vmathSoaM4Select( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1, vec_uint4 select1 ) +{ + vmathSoaV4Select( &result->col0, &mat0->col0, &mat1->col0, select1 ); + vmathSoaV4Select( &result->col1, &mat0->col1, &mat1->col1, select1 ); + vmathSoaV4Select( &result->col2, &mat0->col2, &mat1->col2, select1 ); + vmathSoaV4Select( &result->col3, &mat0->col3, &mat1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM4Print( const VmathSoaMatrix4 *mat ) +{ + VmathMatrix4 mat0, mat1, mat2, mat3; + vmathSoaM4Get4Aos( mat, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathM4Print( &mat0 ); + printf("slot 1:\n"); + vmathM4Print( &mat1 ); + printf("slot 2:\n"); + vmathM4Print( &mat2 ); + printf("slot 3:\n"); + vmathM4Print( &mat3 ); +} + +static inline void vmathSoaM4Prints( const VmathSoaMatrix4 *mat, const char *name ) +{ + printf("%s:\n", name); + vmathSoaM4Print( mat ); +} + +#endif + +static inline void vmathSoaT3Copy( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( &result->col0, &tfrm->col0 ); + vmathSoaV3Copy( &result->col1, &tfrm->col1 ); + vmathSoaV3Copy( &result->col2, &tfrm->col2 ); + vmathSoaV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeFromScalar( VmathSoaTransform3 *result, vec_float4 scalar ) +{ + vmathSoaV3MakeFromScalar( &result->col0, scalar ); + vmathSoaV3MakeFromScalar( &result->col1, scalar ); + vmathSoaV3MakeFromScalar( &result->col2, scalar ); + vmathSoaV3MakeFromScalar( &result->col3, scalar ); +} + +static inline void vmathSoaT3MakeFromCols( VmathSoaTransform3 *result, const VmathSoaVector3 *_col0, const VmathSoaVector3 *_col1, const VmathSoaVector3 *_col2, const VmathSoaVector3 *_col3 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); + vmathSoaV3Copy( &result->col1, _col1 ); + vmathSoaV3Copy( &result->col2, _col2 ); + vmathSoaV3Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaT3MakeFromM3V3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm, const VmathSoaVector3 *translateVec ) +{ + vmathSoaT3SetUpper3x3( result, tfrm ); + vmathSoaT3SetTranslation( result, translateVec ); +} + +static inline void vmathSoaT3MakeFromQV3( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ) +{ + VmathSoaMatrix3 tmpM3_0; + vmathSoaM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathSoaT3SetUpper3x3( result, &tmpM3_0 ); + vmathSoaT3SetTranslation( result, translateVec ); +} + +static inline void vmathSoaT3MakeFromAos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm ) +{ + vmathSoaV3MakeFromAos( &result->col0, &tfrm->col0 ); + vmathSoaV3MakeFromAos( &result->col1, &tfrm->col1 ); + vmathSoaV3MakeFromAos( &result->col2, &tfrm->col2 ); + vmathSoaV3MakeFromAos( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeFrom4Aos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, const VmathTransform3 *tfrm2, const VmathTransform3 *tfrm3 ) +{ + vmathSoaV3MakeFrom4Aos( &result->col0, &tfrm0->col0, &tfrm1->col0, &tfrm2->col0, &tfrm3->col0 ); + vmathSoaV3MakeFrom4Aos( &result->col1, &tfrm0->col1, &tfrm1->col1, &tfrm2->col1, &tfrm3->col1 ); + vmathSoaV3MakeFrom4Aos( &result->col2, &tfrm0->col2, &tfrm1->col2, &tfrm2->col2, &tfrm3->col2 ); + vmathSoaV3MakeFrom4Aos( &result->col3, &tfrm0->col3, &tfrm1->col3, &tfrm2->col3, &tfrm3->col3 ); +} + +static inline void vmathSoaT3Get4Aos( const VmathSoaTransform3 *tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ) +{ + vmathSoaV3Get4Aos( &tfrm->col0, &result0->col0, &result1->col0, &result2->col0, &result3->col0 ); + vmathSoaV3Get4Aos( &tfrm->col1, &result0->col1, &result1->col1, &result2->col1, &result3->col1 ); + vmathSoaV3Get4Aos( &tfrm->col2, &result0->col2, &result1->col2, &result2->col2, &result3->col2 ); + vmathSoaV3Get4Aos( &tfrm->col3, &result0->col3, &result1->col3, &result2->col3, &result3->col3 ); +} + +static inline void vmathSoaT3SetCol0( VmathSoaTransform3 *result, const VmathSoaVector3 *_col0 ) +{ + vmathSoaV3Copy( &result->col0, _col0 ); +} + +static inline void vmathSoaT3SetCol1( VmathSoaTransform3 *result, const VmathSoaVector3 *_col1 ) +{ + vmathSoaV3Copy( &result->col1, _col1 ); +} + +static inline void vmathSoaT3SetCol2( VmathSoaTransform3 *result, const VmathSoaVector3 *_col2 ) +{ + vmathSoaV3Copy( &result->col2, _col2 ); +} + +static inline void vmathSoaT3SetCol3( VmathSoaTransform3 *result, const VmathSoaVector3 *_col3 ) +{ + vmathSoaV3Copy( &result->col3, _col3 ); +} + +static inline void vmathSoaT3SetCol( VmathSoaTransform3 *result, int col, const VmathSoaVector3 *vec ) +{ + vmathSoaV3Copy( (&result->col0 + col), vec ); +} + +static inline void vmathSoaT3SetRow( VmathSoaTransform3 *result, int row, const VmathSoaVector4 *vec ) +{ + vmathSoaV3SetElem( &result->col0, row, vmathSoaV4GetElem( vec, 0 ) ); + vmathSoaV3SetElem( &result->col1, row, vmathSoaV4GetElem( vec, 1 ) ); + vmathSoaV3SetElem( &result->col2, row, vmathSoaV4GetElem( vec, 2 ) ); + vmathSoaV3SetElem( &result->col3, row, vmathSoaV4GetElem( vec, 3 ) ); +} + +static inline void vmathSoaT3SetElem( VmathSoaTransform3 *result, int col, int row, vec_float4 val ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaT3GetCol( &tmpV3_0, result, col ); + vmathSoaV3SetElem( &tmpV3_0, row, val ); + vmathSoaT3SetCol( result, col, &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaT3GetElem( const VmathSoaTransform3 *tfrm, int col, int row ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaT3GetCol( &tmpV3_0, tfrm, col ); + return vmathSoaV3GetElem( &tmpV3_0, row ); +} + +static inline void vmathSoaT3GetCol0( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col0 ); +} + +static inline void vmathSoaT3GetCol1( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col1 ); +} + +static inline void vmathSoaT3GetCol2( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col2 ); +} + +static inline void vmathSoaT3GetCol3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathSoaT3GetCol( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, int col ) +{ + vmathSoaV3Copy( result, (&tfrm->col0 + col) ); +} + +static inline void vmathSoaT3GetRow( VmathSoaVector4 *result, const VmathSoaTransform3 *tfrm, int row ) +{ + vmathSoaV4MakeFromElems( result, vmathSoaV3GetElem( &tfrm->col0, row ), vmathSoaV3GetElem( &tfrm->col1, row ), vmathSoaV3GetElem( &tfrm->col2, row ), vmathSoaV3GetElem( &tfrm->col3, row ) ); +} + +static inline void vmathSoaT3Inverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + VmathSoaVector3 tmp0, tmp1, tmp2, inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + vec_float4 detinv; + vmathSoaV3Cross( &tmp0, &tfrm->col1, &tfrm->col2 ); + vmathSoaV3Cross( &tmp1, &tfrm->col2, &tfrm->col0 ); + vmathSoaV3Cross( &tmp2, &tfrm->col0, &tfrm->col1 ); + detinv = recipf4( vmathSoaV3Dot( &tfrm->col2, &tmp2 ) ); + vmathSoaV3MakeFromElems( &inv0, spu_mul( tmp0.x, detinv ), spu_mul( tmp1.x, detinv ), spu_mul( tmp2.x, detinv ) ); + vmathSoaV3MakeFromElems( &inv1, spu_mul( tmp0.y, detinv ), spu_mul( tmp1.y, detinv ), spu_mul( tmp2.y, detinv ) ); + vmathSoaV3MakeFromElems( &inv2, spu_mul( tmp0.z, detinv ), spu_mul( tmp1.z, detinv ), spu_mul( tmp2.z, detinv ) ); + vmathSoaV3Copy( &result->col0, &inv0 ); + vmathSoaV3Copy( &result->col1, &inv1 ); + vmathSoaV3Copy( &result->col2, &inv2 ); + vmathSoaV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathSoaV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathSoaV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathSoaV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathSoaV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathSoaV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathSoaV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathSoaT3OrthoInverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + VmathSoaVector3 inv0, inv1, inv2, tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5; + vmathSoaV3MakeFromElems( &inv0, tfrm->col0.x, tfrm->col1.x, tfrm->col2.x ); + vmathSoaV3MakeFromElems( &inv1, tfrm->col0.y, tfrm->col1.y, tfrm->col2.y ); + vmathSoaV3MakeFromElems( &inv2, tfrm->col0.z, tfrm->col1.z, tfrm->col2.z ); + vmathSoaV3Copy( &result->col0, &inv0 ); + vmathSoaV3Copy( &result->col1, &inv1 ); + vmathSoaV3Copy( &result->col2, &inv2 ); + vmathSoaV3ScalarMul( &tmpV3_0, &inv0, tfrm->col3.x ); + vmathSoaV3ScalarMul( &tmpV3_1, &inv1, tfrm->col3.y ); + vmathSoaV3ScalarMul( &tmpV3_2, &inv2, tfrm->col3.z ); + vmathSoaV3Add( &tmpV3_3, &tmpV3_1, &tmpV3_2 ); + vmathSoaV3Add( &tmpV3_4, &tmpV3_0, &tmpV3_3 ); + vmathSoaV3Neg( &tmpV3_5, &tmpV3_4 ); + vmathSoaV3Copy( &result->col3, &tmpV3_5 ); +} + +static inline void vmathSoaT3AbsPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3AbsPerElem( &result->col0, &tfrm->col0 ); + vmathSoaV3AbsPerElem( &result->col1, &tfrm->col1 ); + vmathSoaV3AbsPerElem( &result->col2, &tfrm->col2 ); + vmathSoaV3AbsPerElem( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3MulV3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = spu_add( spu_add( spu_mul( tfrm->col0.x, vec->x ), spu_mul( tfrm->col1.x, vec->y ) ), spu_mul( tfrm->col2.x, vec->z ) ); + tmpY = spu_add( spu_add( spu_mul( tfrm->col0.y, vec->x ), spu_mul( tfrm->col1.y, vec->y ) ), spu_mul( tfrm->col2.y, vec->z ) ); + tmpZ = spu_add( spu_add( spu_mul( tfrm->col0.z, vec->x ), spu_mul( tfrm->col1.z, vec->y ) ), spu_mul( tfrm->col2.z, vec->z ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaT3MulP3( VmathSoaPoint3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaPoint3 *pnt ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = spu_add( spu_add( spu_add( spu_mul( tfrm->col0.x, pnt->x ), spu_mul( tfrm->col1.x, pnt->y ) ), spu_mul( tfrm->col2.x, pnt->z ) ), tfrm->col3.x ); + tmpY = spu_add( spu_add( spu_add( spu_mul( tfrm->col0.y, pnt->x ), spu_mul( tfrm->col1.y, pnt->y ) ), spu_mul( tfrm->col2.y, pnt->z ) ), tfrm->col3.y ); + tmpZ = spu_add( spu_add( spu_add( spu_mul( tfrm->col0.z, pnt->x ), spu_mul( tfrm->col1.z, pnt->y ) ), spu_mul( tfrm->col2.z, pnt->z ) ), tfrm->col3.z ); + vmathSoaP3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaT3Mul( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ) +{ + VmathSoaTransform3 tmpResult; + VmathSoaPoint3 tmpP3_0, tmpP3_1; + vmathSoaT3MulV3( &tmpResult.col0, tfrm0, &tfrm1->col0 ); + vmathSoaT3MulV3( &tmpResult.col1, tfrm0, &tfrm1->col1 ); + vmathSoaT3MulV3( &tmpResult.col2, tfrm0, &tfrm1->col2 ); + vmathSoaP3MakeFromV3( &tmpP3_0, &tfrm1->col3 ); + vmathSoaT3MulP3( &tmpP3_1, tfrm0, &tmpP3_0 ); + vmathSoaV3MakeFromP3( &tmpResult.col3, &tmpP3_1 ); + vmathSoaT3Copy( result, &tmpResult ); +} + +static inline void vmathSoaT3MulPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ) +{ + vmathSoaV3MulPerElem( &result->col0, &tfrm0->col0, &tfrm1->col0 ); + vmathSoaV3MulPerElem( &result->col1, &tfrm0->col1, &tfrm1->col1 ); + vmathSoaV3MulPerElem( &result->col2, &tfrm0->col2, &tfrm1->col2 ); + vmathSoaV3MulPerElem( &result->col3, &tfrm0->col3, &tfrm1->col3 ); +} + +static inline void vmathSoaT3MakeIdentity( VmathSoaTransform3 *result ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3SetUpper3x3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm ) +{ + vmathSoaV3Copy( &result->col0, &tfrm->col0 ); + vmathSoaV3Copy( &result->col1, &tfrm->col1 ); + vmathSoaV3Copy( &result->col2, &tfrm->col2 ); +} + +static inline void vmathSoaT3GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaM3MakeFromCols( result, &tfrm->col0, &tfrm->col1, &tfrm->col2 ); +} + +static inline void vmathSoaT3SetTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV3Copy( &result->col3, translateVec ); +} + +static inline void vmathSoaT3GetTranslation( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3Copy( result, &tfrm->col3 ); +} + +static inline void vmathSoaT3MakeRotationX( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeFromElems( &result->col1, spu_splats(0.0f), c, s ); + vmathSoaV3MakeFromElems( &result->col2, spu_splats(0.0f), negatef4( s ), c ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3MakeRotationY( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, spu_splats(0.0f), negatef4( s ) ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeFromElems( &result->col2, s, spu_splats(0.0f), c ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3MakeRotationZ( VmathSoaTransform3 *result, vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + vmathSoaV3MakeFromElems( &result->col0, c, s, spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( s ), c, spu_splats(0.0f) ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3MakeRotationZYX( VmathSoaTransform3 *result, const VmathSoaVector3 *radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ->x, &sX, &cX ); + sincosf4( radiansXYZ->y, &sY, &cY ); + sincosf4( radiansXYZ->z, &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + vmathSoaV3MakeFromElems( &result->col0, spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ) ); + vmathSoaV3MakeFromElems( &result->col1, spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ) ); + vmathSoaV3MakeFromElems( &result->col2, spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ) ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3MakeRotationAxis( VmathSoaTransform3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + VmathSoaMatrix3 tmpM3_0; + VmathSoaVector3 tmpV3_0; + vmathSoaM3MakeRotationAxis( &tmpM3_0, radians, unitVec ); + vmathSoaV3MakeFromScalar( &tmpV3_0, spu_splats(0.0f) ); + vmathSoaT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathSoaT3MakeRotationQ( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat ) +{ + VmathSoaMatrix3 tmpM3_0; + VmathSoaVector3 tmpV3_0; + vmathSoaM3MakeFromQ( &tmpM3_0, unitQuat ); + vmathSoaV3MakeFromScalar( &tmpV3_0, spu_splats(0.0f) ); + vmathSoaT3MakeFromM3V3( result, &tmpM3_0, &tmpV3_0 ); +} + +static inline void vmathSoaT3MakeScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3MakeFromElems( &result->col0, scaleVec->x, spu_splats(0.0f), spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col1, spu_splats(0.0f), scaleVec->y, spu_splats(0.0f) ); + vmathSoaV3MakeFromElems( &result->col2, spu_splats(0.0f), spu_splats(0.0f), scaleVec->z ); + vmathSoaV3MakeFromScalar( &result->col3, spu_splats(0.0f) ); +} + +static inline void vmathSoaT3AppendScale( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *scaleVec ) +{ + vmathSoaV3ScalarMul( &result->col0, &tfrm->col0, vmathSoaV3GetX( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col1, &tfrm->col1, vmathSoaV3GetY( scaleVec ) ); + vmathSoaV3ScalarMul( &result->col2, &tfrm->col2, vmathSoaV3GetZ( scaleVec ) ); + vmathSoaV3Copy( &result->col3, &tfrm->col3 ); +} + +static inline void vmathSoaT3PrependScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaTransform3 *tfrm ) +{ + vmathSoaV3MulPerElem( &result->col0, &tfrm->col0, scaleVec ); + vmathSoaV3MulPerElem( &result->col1, &tfrm->col1, scaleVec ); + vmathSoaV3MulPerElem( &result->col2, &tfrm->col2, scaleVec ); + vmathSoaV3MulPerElem( &result->col3, &tfrm->col3, scaleVec ); +} + +static inline void vmathSoaT3MakeTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ) +{ + vmathSoaV3MakeXAxis( &result->col0 ); + vmathSoaV3MakeYAxis( &result->col1 ); + vmathSoaV3MakeZAxis( &result->col2 ); + vmathSoaV3Copy( &result->col3, translateVec ); +} + +static inline void vmathSoaT3Select( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1, vec_uint4 select1 ) +{ + vmathSoaV3Select( &result->col0, &tfrm0->col0, &tfrm1->col0, select1 ); + vmathSoaV3Select( &result->col1, &tfrm0->col1, &tfrm1->col1, select1 ); + vmathSoaV3Select( &result->col2, &tfrm0->col2, &tfrm1->col2, select1 ); + vmathSoaV3Select( &result->col3, &tfrm0->col3, &tfrm1->col3, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaT3Print( const VmathSoaTransform3 *tfrm ) +{ + VmathTransform3 mat0, mat1, mat2, mat3; + vmathSoaT3Get4Aos( tfrm, &mat0, &mat1, &mat2, &mat3 ); + printf("slot 0:\n"); + vmathT3Print( &mat0 ); + printf("slot 1:\n"); + vmathT3Print( &mat1 ); + printf("slot 2:\n"); + vmathT3Print( &mat2 ); + printf("slot 3:\n"); + vmathT3Print( &mat3 ); +} + +static inline void vmathSoaT3Prints( const VmathSoaTransform3 *tfrm, const char *name ) +{ + printf("%s:\n", name); + vmathSoaT3Print( tfrm ); +} + +#endif + +static inline void vmathSoaQMakeFromM3( VmathSoaQuat *result, const VmathSoaMatrix3 *tfrm ) +{ + vec_float4 trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + vec_uint4 negTrace, ZgtX, ZgtY, YgtX; + vec_uint4 largestXorY, largestYorZ, largestZorX; + + xx = tfrm->col0.x; + yx = tfrm->col0.y; + zx = tfrm->col0.z; + xy = tfrm->col1.x; + yy = tfrm->col1.y; + zy = tfrm->col1.z; + xz = tfrm->col2.x; + yz = tfrm->col2.y; + zz = tfrm->col2.z; + + trace = spu_add( spu_add( xx, yy ), zz ); + + negTrace = spu_cmpgt( spu_splats(0.0f), trace ); + ZgtX = spu_cmpgt( zz, xx ); + ZgtY = spu_cmpgt( zz, yy ); + YgtX = spu_cmpgt( yy, xx ); + largestXorY = spu_and( negTrace, spu_nand( ZgtX, ZgtY ) ); + largestYorZ = spu_and( negTrace, spu_or( YgtX, ZgtX ) ); + largestZorX = spu_and( negTrace, spu_orc( ZgtY, YgtX ) ); + + zz = spu_sel( zz, negatef4(zz), largestXorY ); + xy = spu_sel( xy, negatef4(xy), largestXorY ); + xx = spu_sel( xx, negatef4(xx), largestYorZ ); + yz = spu_sel( yz, negatef4(yz), largestYorZ ); + yy = spu_sel( yy, negatef4(yy), largestZorX ); + zx = spu_sel( zx, negatef4(zx), largestZorX ); + + radicand = spu_add( spu_add( spu_add( xx, yy ), zz ), spu_splats(1.0f) ); + scale = spu_mul( spu_splats(0.5f), rsqrtf4( radicand ) ); + + tmpx = spu_mul( spu_sub( zy, yz ), scale ); + tmpy = spu_mul( spu_sub( xz, zx ), scale ); + tmpz = spu_mul( spu_sub( yx, xy ), scale ); + tmpw = spu_mul( radicand, scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + qx = spu_sel( qx, tmpw, largestXorY ); + qy = spu_sel( qy, tmpz, largestXorY ); + qz = spu_sel( qz, tmpy, largestXorY ); + qw = spu_sel( qw, tmpx, largestXorY ); + tmpx = qx; + tmpz = qz; + qx = spu_sel( qx, qy, largestYorZ ); + qy = spu_sel( qy, tmpx, largestYorZ ); + qz = spu_sel( qz, qw, largestYorZ ); + qw = spu_sel( qw, tmpz, largestYorZ ); + + result->x = qx; + result->y = qy; + result->z = qz; + result->w = qw; +} + +static inline void vmathSoaV3Outer( VmathSoaMatrix3 *result, const VmathSoaVector3 *tfrm0, const VmathSoaVector3 *tfrm1 ) +{ + vmathSoaV3ScalarMul( &result->col0, tfrm0, vmathSoaV3GetX( tfrm1 ) ); + vmathSoaV3ScalarMul( &result->col1, tfrm0, vmathSoaV3GetY( tfrm1 ) ); + vmathSoaV3ScalarMul( &result->col2, tfrm0, vmathSoaV3GetZ( tfrm1 ) ); +} + +static inline void vmathSoaV4Outer( VmathSoaMatrix4 *result, const VmathSoaVector4 *tfrm0, const VmathSoaVector4 *tfrm1 ) +{ + vmathSoaV4ScalarMul( &result->col0, tfrm0, vmathSoaV4GetX( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col1, tfrm0, vmathSoaV4GetY( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col2, tfrm0, vmathSoaV4GetZ( tfrm1 ) ); + vmathSoaV4ScalarMul( &result->col3, tfrm0, vmathSoaV4GetW( tfrm1 ) ); +} + +static inline void vmathSoaV3RowMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = spu_add( spu_add( spu_mul( vec->x, mat->col0.x ), spu_mul( vec->y, mat->col0.y ) ), spu_mul( vec->z, mat->col0.z ) ); + tmpY = spu_add( spu_add( spu_mul( vec->x, mat->col1.x ), spu_mul( vec->y, mat->col1.y ) ), spu_mul( vec->z, mat->col1.z ) ); + tmpZ = spu_add( spu_add( spu_mul( vec->x, mat->col2.x ), spu_mul( vec->y, mat->col2.y ) ), spu_mul( vec->z, mat->col2.z ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaV3CrossMatrix( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec ) +{ + vmathSoaV3MakeFromElems( &result->col0, spu_splats(0.0f), vec->z, negatef4( vec->y ) ); + vmathSoaV3MakeFromElems( &result->col1, negatef4( vec->z ), spu_splats(0.0f), vec->x ); + vmathSoaV3MakeFromElems( &result->col2, vec->y, negatef4( vec->x ), spu_splats(0.0f) ); +} + +static inline void vmathSoaV3CrossMatrixMul( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2; + vmathSoaV3Cross( &tmpV3_0, vec, &mat->col0 ); + vmathSoaV3Cross( &tmpV3_1, vec, &mat->col1 ); + vmathSoaV3Cross( &tmpV3_2, vec, &mat->col2 ); + vmathSoaM3MakeFromCols( result, &tmpV3_0, &tmpV3_1, &tmpV3_2 ); +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa_v.h new file mode 100644 index 000000000..c8401e3d0 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/mat_soa_v.h @@ -0,0 +1,1063 @@ +/* + 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_MAT_SOA_V_C_H +#define _VECTORMATH_MAT_SOA_V_C_H + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + */ +#define _VECTORMATH_PI_OVER_2 1.570796327f + +/*----------------------------------------------------------------------------- + * Definitions + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromCols_V( VmathSoaVector3 _col0, VmathSoaVector3 _col1, VmathSoaVector3 _col2 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromCols(&result, &_col0, &_col1, &_col2); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFromAos_V( VmathMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFromAos(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeFrom4Aos_V( VmathMatrix3 mat0, VmathMatrix3 mat1, VmathMatrix3 mat2, VmathMatrix3 mat3 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeFrom4Aos(&result, &mat0, &mat1, &mat2, &mat3); + return result; +} + +static inline void vmathSoaM3Get4Aos_V( VmathSoaMatrix3 mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ) +{ + vmathSoaM3Get4Aos(&mat, result0, result1, result2, result3); +} + +static inline void vmathSoaM3SetCol0_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col0 ) +{ + vmathSoaM3SetCol0(result, &_col0); +} + +static inline void vmathSoaM3SetCol1_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col1 ) +{ + vmathSoaM3SetCol1(result, &_col1); +} + +static inline void vmathSoaM3SetCol2_V( VmathSoaMatrix3 *result, VmathSoaVector3 _col2 ) +{ + vmathSoaM3SetCol2(result, &_col2); +} + +static inline void vmathSoaM3SetCol_V( VmathSoaMatrix3 *result, int col, VmathSoaVector3 vec ) +{ + vmathSoaM3SetCol(result, col, &vec); +} + +static inline void vmathSoaM3SetRow_V( VmathSoaMatrix3 *result, int row, VmathSoaVector3 vec ) +{ + vmathSoaM3SetRow(result, row, &vec); +} + +static inline void vmathSoaM3SetElem_V( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ) +{ + vmathSoaM3SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaM3GetElem_V( VmathSoaMatrix3 mat, int col, int row ) +{ + return vmathSoaM3GetElem(&mat, col, row); +} + +static inline VmathSoaVector3 vmathSoaM3GetCol0_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol0(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol1_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol1(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol2_V( VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol2(&result, &mat); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetCol_V( VmathSoaMatrix3 mat, int col ) +{ + VmathSoaVector3 result; + vmathSoaM3GetCol(&result, &mat, col); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3GetRow_V( VmathSoaMatrix3 mat, int row ) +{ + VmathSoaVector3 result; + vmathSoaM3GetRow(&result, &mat, row); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Transpose_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Transpose(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Inverse_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Inverse(&result, &mat); + return result; +} + +static inline vec_float4 vmathSoaM3Determinant_V( VmathSoaMatrix3 mat ) +{ + return vmathSoaM3Determinant(&mat); +} + +static inline VmathSoaMatrix3 vmathSoaM3Add_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Sub_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Neg_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Neg(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3AbsPerElem_V( VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3AbsPerElem(&result, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3ScalarMul_V( VmathSoaMatrix3 mat, vec_float4 scalar ) +{ + VmathSoaMatrix3 result; + vmathSoaM3ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaM3MulV3_V( VmathSoaMatrix3 mat, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaM3MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Mul_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MulPerElem_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeIdentity_V( ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeIdentity(&result); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3AppendScale_V( VmathSoaMatrix3 mat, VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix3 result; + vmathSoaM3AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM3PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaM3Select_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1, vec_uint4 select1 ) +{ + VmathSoaMatrix3 result; + vmathSoaM3Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM3Print_V( VmathSoaMatrix3 mat ) +{ + vmathSoaM3Print(&mat); +} + +static inline void vmathSoaM3Prints_V( VmathSoaMatrix3 mat, const char *name ) +{ + vmathSoaM3Prints(&mat, name); +} + +#endif + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromT3_V( VmathSoaTransform3 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromT3(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromCols_V( VmathSoaVector4 _col0, VmathSoaVector4 _col1, VmathSoaVector4 _col2, VmathSoaVector4 _col3 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromM3V3_V( VmathSoaMatrix3 mat, VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromM3V3(&result, &mat, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFromAos_V( VmathMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFromAos(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFrom4Aos_V( VmathMatrix4 mat0, VmathMatrix4 mat1, VmathMatrix4 mat2, VmathMatrix4 mat3 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFrom4Aos(&result, &mat0, &mat1, &mat2, &mat3); + return result; +} + +static inline void vmathSoaM4Get4Aos_V( VmathSoaMatrix4 mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ) +{ + vmathSoaM4Get4Aos(&mat, result0, result1, result2, result3); +} + +static inline void vmathSoaM4SetCol0_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col0 ) +{ + vmathSoaM4SetCol0(result, &_col0); +} + +static inline void vmathSoaM4SetCol1_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col1 ) +{ + vmathSoaM4SetCol1(result, &_col1); +} + +static inline void vmathSoaM4SetCol2_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col2 ) +{ + vmathSoaM4SetCol2(result, &_col2); +} + +static inline void vmathSoaM4SetCol3_V( VmathSoaMatrix4 *result, VmathSoaVector4 _col3 ) +{ + vmathSoaM4SetCol3(result, &_col3); +} + +static inline void vmathSoaM4SetCol_V( VmathSoaMatrix4 *result, int col, VmathSoaVector4 vec ) +{ + vmathSoaM4SetCol(result, col, &vec); +} + +static inline void vmathSoaM4SetRow_V( VmathSoaMatrix4 *result, int row, VmathSoaVector4 vec ) +{ + vmathSoaM4SetRow(result, row, &vec); +} + +static inline void vmathSoaM4SetElem_V( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ) +{ + vmathSoaM4SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaM4GetElem_V( VmathSoaMatrix4 mat, int col, int row ) +{ + return vmathSoaM4GetElem(&mat, col, row); +} + +static inline VmathSoaVector4 vmathSoaM4GetCol0_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol0(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol1_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol1(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol2_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol2(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol3_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol3(&result, &mat); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetCol_V( VmathSoaMatrix4 mat, int col ) +{ + VmathSoaVector4 result; + vmathSoaM4GetCol(&result, &mat, col); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4GetRow_V( VmathSoaMatrix4 mat, int row ) +{ + VmathSoaVector4 result; + vmathSoaM4GetRow(&result, &mat, row); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Transpose_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Transpose(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Inverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Inverse(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AffineInverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AffineInverse(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4OrthoInverse_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4OrthoInverse(&result, &mat); + return result; +} + +static inline vec_float4 vmathSoaM4Determinant_V( VmathSoaMatrix4 mat ) +{ + return vmathSoaM4Determinant(&mat); +} + +static inline VmathSoaMatrix4 vmathSoaM4Add_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Add(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Sub_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Sub(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Neg_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Neg(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AbsPerElem_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AbsPerElem(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4ScalarMul_V( VmathSoaMatrix4 mat, vec_float4 scalar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4ScalarMul(&result, &mat, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulV4_V( VmathSoaMatrix4 mat, VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaM4MulV4(&result, &mat, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulV3_V( VmathSoaMatrix4 mat, VmathSoaVector3 vec ) +{ + VmathSoaVector4 result; + vmathSoaM4MulV3(&result, &mat, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaM4MulP3_V( VmathSoaMatrix4 mat, VmathSoaPoint3 pnt ) +{ + VmathSoaVector4 result; + vmathSoaM4MulP3(&result, &mat, &pnt); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Mul_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Mul(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MulT3_V( VmathSoaMatrix4 mat, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MulT3(&result, &mat, &tfrm1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MulPerElem_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MulPerElem(&result, &mat0, &mat1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeIdentity_V( ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeIdentity(&result); + return result; +} + +static inline void vmathSoaM4SetUpper3x3_V( VmathSoaMatrix4 *result, VmathSoaMatrix3 mat3 ) +{ + vmathSoaM4SetUpper3x3(result, &mat3); +} + +static inline VmathSoaMatrix3 vmathSoaM4GetUpper3x3_V( VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaM4GetUpper3x3(&result, &mat); + return result; +} + +static inline void vmathSoaM4SetTranslation_V( VmathSoaMatrix4 *result, VmathSoaVector3 translateVec ) +{ + vmathSoaM4SetTranslation(result, &translateVec); +} + +static inline VmathSoaVector3 vmathSoaM4GetTranslation_V( VmathSoaMatrix4 mat ) +{ + VmathSoaVector3 result; + vmathSoaM4GetTranslation(&result, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4AppendScale_V( VmathSoaMatrix4 mat, VmathSoaVector3 scaleVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4AppendScale(&result, &mat, &scaleVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix4 mat ) +{ + VmathSoaMatrix4 result; + vmathSoaM4PrependScale(&result, &scaleVec, &mat); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeTranslation_V( VmathSoaVector3 translateVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeLookAt_V( VmathSoaPoint3 eyePos, VmathSoaPoint3 lookAtPos, VmathSoaVector3 upVec ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeLookAt(&result, &eyePos, &lookAtPos, &upVec); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakePerspective_V( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakePerspective(&result, fovyRadians, aspect, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeFrustum_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeFrustum(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4MakeOrthographic_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + VmathSoaMatrix4 result; + vmathSoaM4MakeOrthographic(&result, left, right, bottom, top, zNear, zFar); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaM4Select_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1, vec_uint4 select1 ) +{ + VmathSoaMatrix4 result; + vmathSoaM4Select(&result, &mat0, &mat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaM4Print_V( VmathSoaMatrix4 mat ) +{ + vmathSoaM4Print(&mat); +} + +static inline void vmathSoaM4Prints_V( VmathSoaMatrix4 mat, const char *name ) +{ + vmathSoaM4Prints(&mat, name); +} + +#endif + +static inline VmathSoaTransform3 vmathSoaT3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromCols_V( VmathSoaVector3 _col0, VmathSoaVector3 _col1, VmathSoaVector3 _col2, VmathSoaVector3 _col3 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromCols(&result, &_col0, &_col1, &_col2, &_col3); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromM3V3_V( VmathSoaMatrix3 tfrm, VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromM3V3(&result, &tfrm, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromQV3(&result, &unitQuat, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFromAos_V( VmathTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFromAos(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeFrom4Aos_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, VmathTransform3 tfrm2, VmathTransform3 tfrm3 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeFrom4Aos(&result, &tfrm0, &tfrm1, &tfrm2, &tfrm3); + return result; +} + +static inline void vmathSoaT3Get4Aos_V( VmathSoaTransform3 tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ) +{ + vmathSoaT3Get4Aos(&tfrm, result0, result1, result2, result3); +} + +static inline void vmathSoaT3SetCol0_V( VmathSoaTransform3 *result, VmathSoaVector3 _col0 ) +{ + vmathSoaT3SetCol0(result, &_col0); +} + +static inline void vmathSoaT3SetCol1_V( VmathSoaTransform3 *result, VmathSoaVector3 _col1 ) +{ + vmathSoaT3SetCol1(result, &_col1); +} + +static inline void vmathSoaT3SetCol2_V( VmathSoaTransform3 *result, VmathSoaVector3 _col2 ) +{ + vmathSoaT3SetCol2(result, &_col2); +} + +static inline void vmathSoaT3SetCol3_V( VmathSoaTransform3 *result, VmathSoaVector3 _col3 ) +{ + vmathSoaT3SetCol3(result, &_col3); +} + +static inline void vmathSoaT3SetCol_V( VmathSoaTransform3 *result, int col, VmathSoaVector3 vec ) +{ + vmathSoaT3SetCol(result, col, &vec); +} + +static inline void vmathSoaT3SetRow_V( VmathSoaTransform3 *result, int row, VmathSoaVector4 vec ) +{ + vmathSoaT3SetRow(result, row, &vec); +} + +static inline void vmathSoaT3SetElem_V( VmathSoaTransform3 *result, int col, int row, vec_float4 val ) +{ + vmathSoaT3SetElem(result, col, row, val); +} + +static inline vec_float4 vmathSoaT3GetElem_V( VmathSoaTransform3 tfrm, int col, int row ) +{ + return vmathSoaT3GetElem(&tfrm, col, row); +} + +static inline VmathSoaVector3 vmathSoaT3GetCol0_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol0(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol1_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol1(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol2_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol2(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol3_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol3(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3GetCol_V( VmathSoaTransform3 tfrm, int col ) +{ + VmathSoaVector3 result; + vmathSoaT3GetCol(&result, &tfrm, col); + return result; +} + +static inline VmathSoaVector4 vmathSoaT3GetRow_V( VmathSoaTransform3 tfrm, int row ) +{ + VmathSoaVector4 result; + vmathSoaT3GetRow(&result, &tfrm, row); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Inverse_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3Inverse(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3OrthoInverse_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3OrthoInverse(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3AbsPerElem_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3AbsPerElem(&result, &tfrm); + return result; +} + +static inline VmathSoaVector3 vmathSoaT3MulV3_V( VmathSoaTransform3 tfrm, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaT3MulV3(&result, &tfrm, &vec); + return result; +} + +static inline VmathSoaPoint3 vmathSoaT3MulP3_V( VmathSoaTransform3 tfrm, VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaT3MulP3(&result, &tfrm, &pnt); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Mul_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3Mul(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MulPerElem_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3MulPerElem(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeIdentity_V( ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeIdentity(&result); + return result; +} + +static inline void vmathSoaT3SetUpper3x3_V( VmathSoaTransform3 *result, VmathSoaMatrix3 tfrm ) +{ + vmathSoaT3SetUpper3x3(result, &tfrm); +} + +static inline VmathSoaMatrix3 vmathSoaT3GetUpper3x3_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaMatrix3 result; + vmathSoaT3GetUpper3x3(&result, &tfrm); + return result; +} + +static inline void vmathSoaT3SetTranslation_V( VmathSoaTransform3 *result, VmathSoaVector3 translateVec ) +{ + vmathSoaT3SetTranslation(result, &translateVec); +} + +static inline VmathSoaVector3 vmathSoaT3GetTranslation_V( VmathSoaTransform3 tfrm ) +{ + VmathSoaVector3 result; + vmathSoaT3GetTranslation(&result, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationX_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationY_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationZYX(&result, &radiansXYZ); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeRotationQ_V( VmathSoaQuat unitQuat ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeRotationQ(&result, &unitQuat); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeScale_V( VmathSoaVector3 scaleVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeScale(&result, &scaleVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3AppendScale_V( VmathSoaTransform3 tfrm, VmathSoaVector3 scaleVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3AppendScale(&result, &tfrm, &scaleVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaTransform3 tfrm ) +{ + VmathSoaTransform3 result; + vmathSoaT3PrependScale(&result, &scaleVec, &tfrm); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3MakeTranslation_V( VmathSoaVector3 translateVec ) +{ + VmathSoaTransform3 result; + vmathSoaT3MakeTranslation(&result, &translateVec); + return result; +} + +static inline VmathSoaTransform3 vmathSoaT3Select_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1, vec_uint4 select1 ) +{ + VmathSoaTransform3 result; + vmathSoaT3Select(&result, &tfrm0, &tfrm1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaT3Print_V( VmathSoaTransform3 tfrm ) +{ + vmathSoaT3Print(&tfrm); +} + +static inline void vmathSoaT3Prints_V( VmathSoaTransform3 tfrm, const char *name ) +{ + vmathSoaT3Prints(&tfrm, name); +} + +#endif + +static inline VmathSoaQuat vmathSoaQMakeFromM3_V( VmathSoaMatrix3 tfrm ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromM3(&result, &tfrm); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3Outer_V( VmathSoaVector3 tfrm0, VmathSoaVector3 tfrm1 ) +{ + VmathSoaMatrix3 result; + vmathSoaV3Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaMatrix4 vmathSoaV4Outer_V( VmathSoaVector4 tfrm0, VmathSoaVector4 tfrm1 ) +{ + VmathSoaMatrix4 result; + vmathSoaV4Outer(&result, &tfrm0, &tfrm1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RowMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ) +{ + VmathSoaVector3 result; + vmathSoaV3RowMul(&result, &vec, &mat); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrix_V( VmathSoaVector3 vec ) +{ + VmathSoaMatrix3 result; + vmathSoaV3CrossMatrix(&result, &vec); + return result; +} + +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrixMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ) +{ + VmathSoaMatrix3 result; + vmathSoaV3CrossMatrixMul(&result, &vec, &mat); + return result; +} + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos.h new file mode 100644 index 000000000..0f25d654b --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos.h @@ -0,0 +1,371 @@ +/* + 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_C_H +#define _VECTORMATH_QUAT_AOS_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathQMakeFromElems( VmathQuat *result, float _x, float _y, float _z, float _w ) +{ + result->vec128 = (vec_float4){ _x, _y, _z, _w }; +} + +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float _w ) +{ + result->vec128 = spu_shuffle( xyz->vec128, spu_promote( _w, 0 ), _VECTORMATH_SHUF_XYZA ); +} + +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ) +{ + result->vec128 = spu_splats( scalar ); +} + +static inline void vmathQMakeFrom128( VmathQuat *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathQMakeIdentity( VmathQuat *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0001; +} + +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + VmathQuat tmpQ_0, tmpQ_1; + vmathQSub( &tmpQ_0, quat1, quat0 ); + vmathQScalarMul( &tmpQ_1, &tmpQ_0, t ); + vmathQAdd( result, quat0, &tmpQ_1 ); +} + +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ) +{ + VmathQuat 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->vec128, unitQuat1->vec128 ); + 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.vec128 = spu_sel( unitQuat0->vec128, negatef4( unitQuat0->vec128 ), 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 ); + result->vec128 = spu_madd( start.vec128, scale0, spu_mul( unitQuat1->vec128, scale1 ) ); +} + +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ) +{ + VmathQuat tmp0, tmp1; + vmathQSlerp( &tmp0, t, unitQuat0, unitQuat3 ); + vmathQSlerp( &tmp1, t, unitQuat1, unitQuat2 ); + vmathQSlerp( result, ( ( 2.0f * t ) * ( 1.0f - t ) ), &tmp0, &tmp1 ); +} + +static inline vec_float4 vmathQGet128( const VmathQuat *quat ) +{ + return quat->vec128; +} + +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ) +{ + result->vec128 = spu_sel( vec->vec128, result->vec128, (vec_uint4)spu_maskb(0x000f) ); +} + +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathQSetX( VmathQuat *result, float _x ) +{ + result->vec128 = spu_insert( _x, result->vec128, 0 ); +} + +static inline float vmathQGetX( const VmathQuat *quat ) +{ + return spu_extract( quat->vec128, 0 ); +} + +static inline void vmathQSetY( VmathQuat *result, float _y ) +{ + result->vec128 = spu_insert( _y, result->vec128, 1 ); +} + +static inline float vmathQGetY( const VmathQuat *quat ) +{ + return spu_extract( quat->vec128, 1 ); +} + +static inline void vmathQSetZ( VmathQuat *result, float _z ) +{ + result->vec128 = spu_insert( _z, result->vec128, 2 ); +} + +static inline float vmathQGetZ( const VmathQuat *quat ) +{ + return spu_extract( quat->vec128, 2 ); +} + +static inline void vmathQSetW( VmathQuat *result, float _w ) +{ + result->vec128 = spu_insert( _w, result->vec128, 3 ); +} + +static inline float vmathQGetW( const VmathQuat *quat ) +{ + return spu_extract( quat->vec128, 3 ); +} + +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ) +{ + result->vec128 = spu_insert( value, result->vec128, idx ); +} + +static inline float vmathQGetElem( const VmathQuat *quat, int idx ) +{ + return spu_extract( quat->vec128, idx ); +} + +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->vec128 = spu_add( quat0->vec128, quat1->vec128 ); +} + +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + result->vec128 = spu_sub( quat0->vec128, quat1->vec128 ); +} + +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->vec128 = spu_mul( quat->vec128, spu_splats(scalar) ); +} + +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ) +{ + result->vec128 = divf4( quat->vec128, spu_splats(scalar) ); +} + +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = negatef4( quat->vec128 ); +} + +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + return spu_extract( _vmathVfDot4( quat0->vec128, quat1->vec128 ), 0 ); +} + +static inline float vmathQNorm( const VmathQuat *quat ) +{ + return spu_extract( _vmathVfDot4( quat->vec128, quat->vec128 ), 0 ); +} + +static inline float vmathQLength( const VmathQuat *quat ) +{ + return sqrtf( vmathQNorm( quat ) ); +} + +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ) +{ + vec_float4 dot = _vmathVfDot4( quat->vec128, quat->vec128 ); + result->vec128 = spu_mul( quat->vec128, rsqrtf4( dot ) ); +} + +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + VmathVector3 crossVec, tmpV3_0; + vec_float4 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res; + cosAngle = _vmathVfDot3( unitVec0->vec128, unitVec1->vec128 ); + 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 ); + vmathV3Cross( &tmpV3_0, unitVec0, unitVec1 ); + crossVec = tmpV3_0; + res = spu_mul( crossVec.vec128, recipCosHalfAngleX2 ); + res = spu_sel( res, spu_mul( cosHalfAngleX2, spu_splats(0.5f) ), (vec_uint4)spu_maskb(0x000f) ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *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->vec128, s ), c, (vec_uint4)spu_maskb(0x000f) ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationX( VmathQuat *result, 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) ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationY( VmathQuat *result, 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) ); + result->vec128 = res; +} + +static inline void vmathQMakeRotationZ( VmathQuat *result, 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) ); + result->vec128 = res; +} + +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ) +{ + vec_float4 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3; + vec_float4 product, l_wxyz, r_wxyz, xy, qw; + ldata = quat0->vec128; + rdata = quat1->vec128; + 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 ) ); + result->vec128 = spu_sel( qv, qw, (vec_uint4)spu_maskb( 0x000f ) ); +} + +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *quat, const VmathVector3 *vec ) +{ + vec_float4 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res; + qdata = quat->vec128; + vdata = vec->vec128; + 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 ); + result->vec128 = res; +} + +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ) +{ + result->vec128 = spu_xor( quat->vec128, ((vec_float4)(vec_int4){0x80000000,0x80000000,0x80000000,0}) ); +} + +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ) +{ + result->vec128 = spu_sel( quat0->vec128, quat1->vec128, spu_splats( (unsigned int)-(select1 > 0) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint( const VmathQuat *quat ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = quat->vec128; + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +static inline void vmathQPrints( const VmathQuat *quat, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = quat->vec128; + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos_v.h new file mode 100644 index 000000000..04cf6ccf9 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_aos_v.h @@ -0,0 +1,312 @@ +/* + 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_V_C_H +#define _VECTORMATH_QUAT_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathQuat vmathQMakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathQuat result; + vmathQMakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathQuat result; + vmathQMakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ) +{ + VmathQuat result; + vmathQMakeFromV4(&result, &vec); + return result; +} + +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ) +{ + VmathQuat result; + vmathQMakeFromScalar(&result, scalar); + return result; +} + +static inline VmathQuat vmathQMakeFrom128_V( vec_float4 vf4 ) +{ + VmathQuat result; + vmathQMakeFrom128(&result, vf4); + return result; +} + +static inline VmathQuat vmathQMakeIdentity_V( ) +{ + VmathQuat result; + vmathQMakeIdentity(&result); + return result; +} + +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQLerp(&result, t, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ) +{ + VmathQuat result; + vmathQSlerp(&result, t, &unitQuat0, &unitQuat1); + return result; +} + +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ) +{ + VmathQuat result; + vmathQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3); + return result; +} + +static inline vec_float4 vmathQGet128_V( VmathQuat quat ) +{ + return vmathQGet128(&quat); +} + +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ) +{ + vmathQSetXYZ(result, &vec); +} + +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ) +{ + VmathVector3 result; + vmathQGetXYZ(&result, &quat); + return result; +} + +static inline void vmathQSetX_V( VmathQuat *result, float _x ) +{ + vmathQSetX(result, _x); +} + +static inline float vmathQGetX_V( VmathQuat quat ) +{ + return vmathQGetX(&quat); +} + +static inline void vmathQSetY_V( VmathQuat *result, float _y ) +{ + vmathQSetY(result, _y); +} + +static inline float vmathQGetY_V( VmathQuat quat ) +{ + return vmathQGetY(&quat); +} + +static inline void vmathQSetZ_V( VmathQuat *result, float _z ) +{ + vmathQSetZ(result, _z); +} + +static inline float vmathQGetZ_V( VmathQuat quat ) +{ + return vmathQGetZ(&quat); +} + +static inline void vmathQSetW_V( VmathQuat *result, float _w ) +{ + vmathQSetW(result, _w); +} + +static inline float vmathQGetW_V( VmathQuat quat ) +{ + return vmathQGetW(&quat); +} + +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ) +{ + vmathQSetElem(result, idx, value); +} + +static inline float vmathQGetElem_V( VmathQuat quat, int idx ) +{ + return vmathQGetElem(&quat, idx); +} + +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQAdd(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQSub(&result, &quat0, &quat1); + return result; +} + +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarMul(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ) +{ + VmathQuat result; + vmathQScalarDiv(&result, &quat, scalar); + return result; +} + +static inline VmathQuat vmathQNeg_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNeg(&result, &quat); + return result; +} + +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ) +{ + return vmathQDot(&quat0, &quat1); +} + +static inline float vmathQNorm_V( VmathQuat quat ) +{ + return vmathQNorm(&quat); +} + +static inline float vmathQLength_V( VmathQuat quat ) +{ + return vmathQLength(&quat); +} + +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQNormalize(&result, &quat); + return result; +} + +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathQuat result; + vmathQMakeRotationArc(&result, &unitVec0, &unitVec1); + return result; +} + +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ) +{ + VmathQuat result; + vmathQMakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathQuat vmathQMakeRotationX_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationX(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationY_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationY(&result, radians); + return result; +} + +static inline VmathQuat vmathQMakeRotationZ_V( float radians ) +{ + VmathQuat result; + vmathQMakeRotationZ(&result, radians); + return result; +} + +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ) +{ + VmathQuat result; + vmathQMul(&result, &quat0, &quat1); + return result; +} + +static inline VmathVector3 vmathQRotate_V( VmathQuat quat, VmathVector3 vec ) +{ + VmathVector3 result; + vmathQRotate(&result, &quat, &vec); + return result; +} + +static inline VmathQuat vmathQConj_V( VmathQuat quat ) +{ + VmathQuat result; + vmathQConj(&result, &quat); + return result; +} + +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ) +{ + VmathQuat result; + vmathQSelect(&result, &quat0, &quat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathQPrint_V( VmathQuat quat ) +{ + vmathQPrint(&quat); +} + +static inline void vmathQPrints_V( VmathQuat quat, const char *name ) +{ + vmathQPrints(&quat, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa.h new file mode 100644 index 000000000..cd79e9d8d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa.h @@ -0,0 +1,419 @@ +/* + 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_C_H +#define _VECTORMATH_QUAT_SOA_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathSoaQCopy( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathSoaQMakeFromElems( VmathSoaQuat *result, vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathSoaQMakeFromV3Scalar( VmathSoaQuat *result, const VmathSoaVector3 *xyz, vec_float4 _w ) +{ + vmathSoaQSetXYZ( result, xyz ); + vmathSoaQSetW( result, _w ); +} + +static inline void vmathSoaQMakeFromV4( VmathSoaQuat *result, const VmathSoaVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathSoaQMakeFromScalar( VmathSoaQuat *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathSoaQMakeFromAos( VmathSoaQuat *result, const VmathQuat *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->vec128; + result->x = spu_shuffle( vec128, vec128, shuffle_xxxx ); + result->y = spu_shuffle( vec128, vec128, shuffle_yyyy ); + result->z = spu_shuffle( vec128, vec128, shuffle_zzzz ); + result->w = spu_shuffle( vec128, vec128, shuffle_wwww ); +} + +static inline void vmathSoaQMakeFrom4Aos( VmathSoaQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, const VmathQuat *quat2, const VmathQuat *quat3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( quat0->vec128, quat2->vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( quat1->vec128, quat3->vec128, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( quat0->vec128, quat2->vec128, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( quat1->vec128, quat3->vec128, _VECTORMATH_SHUF_ZCWD ); + result->x = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + result->y = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + result->z = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); + result->w = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ); +} + +static inline void vmathSoaQMakeIdentity( VmathSoaQuat *result ) +{ + vmathSoaQMakeFromElems( result, spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) ); +} + +static inline void vmathSoaQLerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + VmathSoaQuat tmpQ_0, tmpQ_1; + vmathSoaQSub( &tmpQ_0, quat1, quat0 ); + vmathSoaQScalarMul( &tmpQ_1, &tmpQ_0, t ); + vmathSoaQAdd( result, quat0, &tmpQ_1 ); +} + +static inline void vmathSoaQSlerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1 ) +{ + VmathSoaQuat start, tmpQ_0, tmpQ_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaQDot( unitQuat0, unitQuat1 ); + selectMask = (vec_uint4)spu_cmpgt( spu_splats(0.0f), cosAngle ); + cosAngle = spu_sel( cosAngle, negatef4( cosAngle ), selectMask ); + vmathSoaQSetX( &start, spu_sel( unitQuat0->x, negatef4( unitQuat0->x ), selectMask ) ); + vmathSoaQSetY( &start, spu_sel( unitQuat0->y, negatef4( unitQuat0->y ), selectMask ) ); + vmathSoaQSetZ( &start, spu_sel( unitQuat0->z, negatef4( unitQuat0->z ), selectMask ) ); + vmathSoaQSetW( &start, spu_sel( unitQuat0->w, negatef4( unitQuat0->w ), 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 ); + vmathSoaQScalarMul( &tmpQ_0, &start, scale0 ); + vmathSoaQScalarMul( &tmpQ_1, unitQuat1, scale1 ); + vmathSoaQAdd( result, &tmpQ_0, &tmpQ_1 ); +} + +static inline void vmathSoaQSquad( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1, const VmathSoaQuat *unitQuat2, const VmathSoaQuat *unitQuat3 ) +{ + VmathSoaQuat tmp0, tmp1; + vmathSoaQSlerp( &tmp0, t, unitQuat0, unitQuat3 ); + vmathSoaQSlerp( &tmp1, t, unitQuat1, unitQuat2 ); + vmathSoaQSlerp( result, spu_mul( spu_mul( spu_splats(2.0f), t ), spu_sub( spu_splats(1.0f), t ) ), &tmp0, &tmp1 ); +} + +static inline void vmathSoaQGet4Aos( const VmathSoaQuat *quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( quat->x, quat->z, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( quat->y, quat->w, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( quat->x, quat->z, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( quat->y, quat->w, _VECTORMATH_SHUF_ZCWD ); + vmathQMakeFrom128( result0, spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ) ); + vmathQMakeFrom128( result1, spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ) ); + vmathQMakeFrom128( result2, spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ) ); + vmathQMakeFrom128( result3, spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ) ); +} + +static inline void vmathSoaQSetXYZ( VmathSoaQuat *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaQGetXYZ( VmathSoaVector3 *result, const VmathSoaQuat *quat ) +{ + vmathSoaV3MakeFromElems( result, quat->x, quat->y, quat->z ); +} + +static inline void vmathSoaQSetX( VmathSoaQuat *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaQGetX( const VmathSoaQuat *quat ) +{ + return quat->x; +} + +static inline void vmathSoaQSetY( VmathSoaQuat *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaQGetY( const VmathSoaQuat *quat ) +{ + return quat->y; +} + +static inline void vmathSoaQSetZ( VmathSoaQuat *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaQGetZ( const VmathSoaQuat *quat ) +{ + return quat->z; +} + +static inline void vmathSoaQSetW( VmathSoaQuat *result, vec_float4 _w ) +{ + result->w = _w; +} + +static inline vec_float4 vmathSoaQGetW( const VmathSoaQuat *quat ) +{ + return quat->w; +} + +static inline void vmathSoaQSetElem( VmathSoaQuat *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaQGetElem( const VmathSoaQuat *quat, int idx ) +{ + return *(&quat->x + idx); +} + +static inline void vmathSoaQAdd( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + result->x = spu_add( quat0->x, quat1->x ); + result->y = spu_add( quat0->y, quat1->y ); + result->z = spu_add( quat0->z, quat1->z ); + result->w = spu_add( quat0->w, quat1->w ); +} + +static inline void vmathSoaQSub( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + result->x = spu_sub( quat0->x, quat1->x ); + result->y = spu_sub( quat0->y, quat1->y ); + result->z = spu_sub( quat0->z, quat1->z ); + result->w = spu_sub( quat0->w, quat1->w ); +} + +static inline void vmathSoaQScalarMul( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ) +{ + result->x = spu_mul( quat->x, scalar ); + result->y = spu_mul( quat->y, scalar ); + result->z = spu_mul( quat->z, scalar ); + result->w = spu_mul( quat->w, scalar ); +} + +static inline void vmathSoaQScalarDiv( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ) +{ + result->x = divf4( quat->x, scalar ); + result->y = divf4( quat->y, scalar ); + result->z = divf4( quat->z, scalar ); + result->w = divf4( quat->w, scalar ); +} + +static inline void vmathSoaQNeg( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + result->x = negatef4( quat->x ); + result->y = negatef4( quat->y ); + result->z = negatef4( quat->z ); + result->w = negatef4( quat->w ); +} + +static inline vec_float4 vmathSoaQDot( const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + vec_float4 result; + result = spu_mul( quat0->x, quat1->x ); + result = spu_add( result, spu_mul( quat0->y, quat1->y ) ); + result = spu_add( result, spu_mul( quat0->z, quat1->z ) ); + result = spu_add( result, spu_mul( quat0->w, quat1->w ) ); + return result; +} + +static inline vec_float4 vmathSoaQNorm( const VmathSoaQuat *quat ) +{ + vec_float4 result; + result = spu_mul( quat->x, quat->x ); + result = spu_add( result, spu_mul( quat->y, quat->y ) ); + result = spu_add( result, spu_mul( quat->z, quat->z ) ); + result = spu_add( result, spu_mul( quat->w, quat->w ) ); + return result; +} + +static inline vec_float4 vmathSoaQLength( const VmathSoaQuat *quat ) +{ + return sqrtf4( vmathSoaQNorm( quat ) ); +} + +static inline void vmathSoaQNormalize( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaQNorm( quat ); + lenInv = rsqrtf4( lenSqr ); + result->x = spu_mul( quat->x, lenInv ); + result->y = spu_mul( quat->y, lenInv ); + result->z = spu_mul( quat->z, lenInv ); + result->w = spu_mul( quat->w, lenInv ); +} + +static inline void vmathSoaQMakeRotationArc( VmathSoaQuat *result, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vec_float4 cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf4( spu_mul( spu_splats(2.0f), spu_add( spu_splats(1.0f), vmathSoaV3Dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = recipf4( cosHalfAngleX2 ); + vmathSoaV3Cross( &tmpV3_0, unitVec0, unitVec1 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, recipCosHalfAngleX2 ); + vmathSoaQMakeFromV3Scalar( result, &tmpV3_1, spu_mul( cosHalfAngleX2, spu_splats(0.5f) ) ); +} + +static inline void vmathSoaQMakeRotationAxis( VmathSoaQuat *result, vec_float4 radians, const VmathSoaVector3 *unitVec ) +{ + VmathSoaVector3 tmpV3_0; + vec_float4 s, c, angle; + angle = spu_mul( radians, spu_splats(0.5f) ); + sincosf4( angle, &s, &c ); + vmathSoaV3ScalarMul( &tmpV3_0, unitVec, s ); + vmathSoaQMakeFromV3Scalar( result, &tmpV3_0, c ); +} + +static inline void vmathSoaQMakeRotationX( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = spu_mul( radians, spu_splats(0.5f) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, s, spu_splats(0.0f), spu_splats(0.0f), c ); +} + +static inline void vmathSoaQMakeRotationY( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = spu_mul( radians, spu_splats(0.5f) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, spu_splats(0.0f), s, spu_splats(0.0f), c ); +} + +static inline void vmathSoaQMakeRotationZ( VmathSoaQuat *result, vec_float4 radians ) +{ + vec_float4 s, c, angle; + angle = spu_mul( radians, spu_splats(0.5f) ); + sincosf4( angle, &s, &c ); + vmathSoaQMakeFromElems( result, spu_splats(0.0f), spu_splats(0.0f), s, c ); +} + +static inline void vmathSoaQMul( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = spu_sub( spu_add( spu_add( spu_mul( quat0->w, quat1->x ), spu_mul( quat0->x, quat1->w ) ), spu_mul( quat0->y, quat1->z ) ), spu_mul( quat0->z, quat1->y ) ); + tmpY = spu_sub( spu_add( spu_add( spu_mul( quat0->w, quat1->y ), spu_mul( quat0->y, quat1->w ) ), spu_mul( quat0->z, quat1->x ) ), spu_mul( quat0->x, quat1->z ) ); + tmpZ = spu_sub( spu_add( spu_add( spu_mul( quat0->w, quat1->z ), spu_mul( quat0->z, quat1->w ) ), spu_mul( quat0->x, quat1->y ) ), spu_mul( quat0->y, quat1->x ) ); + tmpW = spu_sub( spu_sub( spu_sub( spu_mul( quat0->w, quat1->w ), spu_mul( quat0->x, quat1->x ) ), spu_mul( quat0->y, quat1->y ) ), spu_mul( quat0->z, quat1->z ) ); + vmathSoaQMakeFromElems( result, tmpX, tmpY, tmpZ, tmpW ); +} + +static inline void vmathSoaQRotate( VmathSoaVector3 *result, const VmathSoaQuat *quat, const VmathSoaVector3 *vec ) +{ + vec_float4 tmpX, tmpY, tmpZ, tmpW; + tmpX = spu_sub( spu_add( spu_mul( quat->w, vec->x ), spu_mul( quat->y, vec->z ) ), spu_mul( quat->z, vec->y ) ); + tmpY = spu_sub( spu_add( spu_mul( quat->w, vec->y ), spu_mul( quat->z, vec->x ) ), spu_mul( quat->x, vec->z ) ); + tmpZ = spu_sub( spu_add( spu_mul( quat->w, vec->z ), spu_mul( quat->x, vec->y ) ), spu_mul( quat->y, vec->x ) ); + tmpW = spu_add( spu_add( spu_mul( quat->x, vec->x ), spu_mul( quat->y, vec->y ) ), spu_mul( quat->z, vec->z ) ); + result->x = spu_add( spu_sub( spu_add( spu_mul( tmpW, quat->x ), spu_mul( tmpX, quat->w ) ), spu_mul( tmpY, quat->z ) ), spu_mul( tmpZ, quat->y ) ); + result->y = spu_add( spu_sub( spu_add( spu_mul( tmpW, quat->y ), spu_mul( tmpY, quat->w ) ), spu_mul( tmpZ, quat->x ) ), spu_mul( tmpX, quat->z ) ); + result->z = spu_add( spu_sub( spu_add( spu_mul( tmpW, quat->z ), spu_mul( tmpZ, quat->w ) ), spu_mul( tmpX, quat->y ) ), spu_mul( tmpY, quat->x ) ); +} + +static inline void vmathSoaQConj( VmathSoaQuat *result, const VmathSoaQuat *quat ) +{ + vmathSoaQMakeFromElems( result, negatef4( quat->x ), negatef4( quat->y ), negatef4( quat->z ), quat->w ); +} + +static inline void vmathSoaQSelect( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1, vec_uint4 select1 ) +{ + result->x = spu_sel( quat0->x, quat1->x, select1 ); + result->y = spu_sel( quat0->y, quat1->y, select1 ); + result->z = spu_sel( quat0->z, quat1->z, select1 ); + result->w = spu_sel( quat0->w, quat1->w, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaQPrint( const VmathSoaQuat *quat ) +{ + VmathQuat vec0, vec1, vec2, vec3; + vmathSoaQGet4Aos( quat, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathQPrint( &vec0 ); + printf("slot 1:\n"); + vmathQPrint( &vec1 ); + printf("slot 2:\n"); + vmathQPrint( &vec2 ); + printf("slot 3:\n"); + vmathQPrint( &vec3 ); +} + +static inline void vmathSoaQPrints( const VmathSoaQuat *quat, const char *name ) +{ + VmathQuat vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaQGet4Aos( quat, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathQPrint( &vec0 ); + printf("slot 1:\n"); + vmathQPrint( &vec1 ); + printf("slot 2:\n"); + vmathQPrint( &vec2 ); + printf("slot 3:\n"); + vmathQPrint( &vec3 ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa_v.h new file mode 100644 index 000000000..601d9da92 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/quat_soa_v.h @@ -0,0 +1,319 @@ +/* + 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_V_C_H +#define _VECTORMATH_QUAT_SOA_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathSoaQuat vmathSoaQMakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 _w ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromV4_V( VmathSoaVector4 vec ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromV4(&result, &vec); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFromAos_V( VmathQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQMakeFromAos(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeFrom4Aos_V( VmathQuat quat0, VmathQuat quat1, VmathQuat quat2, VmathQuat quat3 ) +{ + VmathSoaQuat result; + vmathSoaQMakeFrom4Aos(&result, &quat0, &quat1, &quat2, &quat3); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeIdentity_V( ) +{ + VmathSoaQuat result; + vmathSoaQMakeIdentity(&result); + return result; +} + +static inline VmathSoaQuat vmathSoaQLerp_V( vec_float4 t, VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQLerp(&result, t, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSlerp_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1 ) +{ + VmathSoaQuat result; + vmathSoaQSlerp(&result, t, &unitQuat0, &unitQuat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSquad_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1, VmathSoaQuat unitQuat2, VmathSoaQuat unitQuat3 ) +{ + VmathSoaQuat result; + vmathSoaQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3); + return result; +} + +static inline void vmathSoaQGet4Aos_V( VmathSoaQuat quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ) +{ + vmathSoaQGet4Aos(&quat, result0, result1, result2, result3); +} + +static inline void vmathSoaQSetXYZ_V( VmathSoaQuat *result, VmathSoaVector3 vec ) +{ + vmathSoaQSetXYZ(result, &vec); +} + +static inline VmathSoaVector3 vmathSoaQGetXYZ_V( VmathSoaQuat quat ) +{ + VmathSoaVector3 result; + vmathSoaQGetXYZ(&result, &quat); + return result; +} + +static inline void vmathSoaQSetX_V( VmathSoaQuat *result, vec_float4 _x ) +{ + vmathSoaQSetX(result, _x); +} + +static inline vec_float4 vmathSoaQGetX_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetX(&quat); +} + +static inline void vmathSoaQSetY_V( VmathSoaQuat *result, vec_float4 _y ) +{ + vmathSoaQSetY(result, _y); +} + +static inline vec_float4 vmathSoaQGetY_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetY(&quat); +} + +static inline void vmathSoaQSetZ_V( VmathSoaQuat *result, vec_float4 _z ) +{ + vmathSoaQSetZ(result, _z); +} + +static inline vec_float4 vmathSoaQGetZ_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetZ(&quat); +} + +static inline void vmathSoaQSetW_V( VmathSoaQuat *result, vec_float4 _w ) +{ + vmathSoaQSetW(result, _w); +} + +static inline vec_float4 vmathSoaQGetW_V( VmathSoaQuat quat ) +{ + return vmathSoaQGetW(&quat); +} + +static inline void vmathSoaQSetElem_V( VmathSoaQuat *result, int idx, vec_float4 value ) +{ + vmathSoaQSetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaQGetElem_V( VmathSoaQuat quat, int idx ) +{ + return vmathSoaQGetElem(&quat, idx); +} + +static inline VmathSoaQuat vmathSoaQAdd_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQAdd(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQSub_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQSub(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaQuat vmathSoaQScalarMul_V( VmathSoaQuat quat, vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQScalarMul(&result, &quat, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQScalarDiv_V( VmathSoaQuat quat, vec_float4 scalar ) +{ + VmathSoaQuat result; + vmathSoaQScalarDiv(&result, &quat, scalar); + return result; +} + +static inline VmathSoaQuat vmathSoaQNeg_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQNeg(&result, &quat); + return result; +} + +static inline vec_float4 vmathSoaQDot_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + return vmathSoaQDot(&quat0, &quat1); +} + +static inline vec_float4 vmathSoaQNorm_V( VmathSoaQuat quat ) +{ + return vmathSoaQNorm(&quat); +} + +static inline vec_float4 vmathSoaQLength_V( VmathSoaQuat quat ) +{ + return vmathSoaQLength(&quat); +} + +static inline VmathSoaQuat vmathSoaQNormalize_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQNormalize(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationArc_V( VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationArc(&result, &unitVec0, &unitVec1); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationAxis(&result, radians, &unitVec); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationX_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationX(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationY_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationY(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMakeRotationZ_V( vec_float4 radians ) +{ + VmathSoaQuat result; + vmathSoaQMakeRotationZ(&result, radians); + return result; +} + +static inline VmathSoaQuat vmathSoaQMul_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ) +{ + VmathSoaQuat result; + vmathSoaQMul(&result, &quat0, &quat1); + return result; +} + +static inline VmathSoaVector3 vmathSoaQRotate_V( VmathSoaQuat quat, VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaQRotate(&result, &quat, &vec); + return result; +} + +static inline VmathSoaQuat vmathSoaQConj_V( VmathSoaQuat quat ) +{ + VmathSoaQuat result; + vmathSoaQConj(&result, &quat); + return result; +} + +static inline VmathSoaQuat vmathSoaQSelect_V( VmathSoaQuat quat0, VmathSoaQuat quat1, vec_uint4 select1 ) +{ + VmathSoaQuat result; + vmathSoaQSelect(&result, &quat0, &quat1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaQPrint_V( VmathSoaQuat quat ) +{ + vmathSoaQPrint(&quat); +} + +static inline void vmathSoaQPrints_V( VmathSoaQuat quat, const char *name ) +{ + vmathSoaQPrints(&quat, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos.h new file mode 100644 index 000000000..715f27df7 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos.h @@ -0,0 +1,1029 @@ +/* + 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_VEC_AOS_C_H +#define _VECTORMATH_VEC_AOS_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_WABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_SHUF_ZWAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +static inline vec_float4 _vmathVfDot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result ); +} + +static inline vec_float4 _vmathVfDot4( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_add( spu_rlqwbyte( result, 8 ), result ); +} + +static inline vec_float4 _vmathVfCross( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = spu_shuffle( vec0, vec0, _VECTORMATH_SHUF_YZXW ); + tmp1 = spu_shuffle( vec1, vec1, _VECTORMATH_SHUF_ZXYW ); + tmp2 = spu_shuffle( vec0, vec0, _VECTORMATH_SHUF_ZXYW ); + tmp3 = spu_shuffle( vec1, vec1, _VECTORMATH_SHUF_YZXW ); + result = spu_mul( tmp0, tmp1 ); + result = spu_nmsub( tmp2, tmp3, result ); + return result; +} + +static inline vec_uint4 _vmathVfToHalfFloatsUnpacked(vec_float4 v) +{ + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = spu_splats(0x00007c00u); + const vec_uint4 mergeMant = spu_splats(0x000003ffu); + const vec_uint4 mergeSign = spu_splats(0x00008000u); + + sign = spu_rlmask((vec_uint4)v, -16); + mant = spu_rlmask((vec_uint4)v, -13); + bexp = spu_and(spu_rlmask((vec_int4)v, -23), 0xff); + + notZero = spu_cmpgt(bexp, 112); + isInf = spu_cmpgt(bexp, 142); + + bexp = spu_add(bexp, -112); + bexp = spu_sl(bexp, 10); + + hfloat = spu_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = spu_sel(spu_splats(0u), hfloat, notZero); + hfloat = spu_sel(hfloat, hfloatInf, isInf); + hfloat = spu_sel(hfloat, sign, mergeSign); + + return hfloat; +} + +static inline vec_ushort8 _vmath2VfToHalfFloats(vec_float4 u, vec_float4 v) +{ + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)spu_shuffle(hfloat_u, hfloat_v, pack); +} + +#endif + +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV3MakeFromElems( VmathVector3 *result, float _x, float _y, float _z ) +{ + result->vec128 = (vec_float4){ _x, _y, _z, 0.0f }; +} + +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = pnt->vec128; +} + +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ) +{ + result->vec128 = spu_splats( scalar ); +} + +static inline void vmathV3MakeFrom128( VmathVector3 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathV3MakeXAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_1000; +} + +static inline void vmathV3MakeYAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0100; +} + +static inline void vmathV3MakeZAxis( VmathVector3 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0010; +} + +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathV3Sub( &tmpV3_0, vec1, vec0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathV3Add( result, vec0, &tmpV3_1 ); +} + +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ) +{ + 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 = _vmathVfDot3( unitVec0->vec128, unitVec1->vec128 ); + cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx ); + 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 ); + result->vec128 = spu_madd( unitVec0->vec128, scale0, spu_mul( unitVec1->vec128, scale1 ) ); +} + +static inline vec_float4 vmathV3Get128( const VmathVector3 *vec ) +{ + return vec->vec128; +} + +static inline void vmathV3StoreXYZ( const VmathVector3 *vec, vec_float4 *quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = (vec_uint4)spu_maskb(0x000f); + dstVec = spu_sel(vec->vec128, dstVec, mask); + *quad = dstVec; +} + +static inline void vmathV3LoadXYZArray( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_WABC ); + xyz2 = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_ZWAB ); + xyz3 = spu_rlqwbyte( zxyz, 4 ); + vec0->vec128 = xyzx; + vec1->vec128 = xyz1; + vec2->vec128 = xyz2; + vec3->vec128 = xyz3; +} + +static inline void vmathV3StoreXYZArray( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = spu_shuffle( vec0->vec128, vec1->vec128, _VECTORMATH_SHUF_XYZA ); + yzxy = spu_shuffle( vec1->vec128, vec2->vec128, _VECTORMATH_SHUF_YZAB ); + zxyz = spu_shuffle( vec2->vec128, vec3->vec128, _VECTORMATH_SHUF_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathV3StoreHalfFloats( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, const VmathVector3 *vec4, const VmathVector3 *vec5, const VmathVector3 *vec6, const VmathVector3 *vec7, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathV3StoreXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + vmathV3StoreXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathV3SetX( VmathVector3 *result, float _x ) +{ + result->vec128 = spu_insert( _x, result->vec128, 0 ); +} + +static inline float vmathV3GetX( const VmathVector3 *vec ) +{ + return spu_extract( vec->vec128, 0 ); +} + +static inline void vmathV3SetY( VmathVector3 *result, float _y ) +{ + result->vec128 = spu_insert( _y, result->vec128, 1 ); +} + +static inline float vmathV3GetY( const VmathVector3 *vec ) +{ + return spu_extract( vec->vec128, 1 ); +} + +static inline void vmathV3SetZ( VmathVector3 *result, float _z ) +{ + result->vec128 = spu_insert( _z, result->vec128, 2 ); +} + +static inline float vmathV3GetZ( const VmathVector3 *vec ) +{ + return spu_extract( vec->vec128, 2 ); +} + +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ) +{ + result->vec128 = spu_insert( value, result->vec128, idx ); +} + +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ) +{ + return spu_extract( vec->vec128, idx ); +} + +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = spu_add( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = spu_sub( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt1 ) +{ + result->vec128 = spu_add( vec->vec128, pnt1->vec128 ); +} + +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->vec128 = spu_mul( vec->vec128, spu_splats(scalar) ); +} + +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ) +{ + result->vec128 = divf4( vec->vec128, spu_splats(scalar) ); +} + +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = negatef4( vec->vec128 ); +} + +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = spu_mul( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = divf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = recipf4( vec->vec128 ); +} + +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = sqrtf4( vec->vec128 ); +} + +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = rsqrtf4( vec->vec128 ); +} + +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ) +{ + result->vec128 = fabsf4( vec->vec128 ); +} + +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = copysignf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = fmaxf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV3MaxElem( const VmathVector3 *vec ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( vec->vec128, 1 ), 0 ), vec->vec128 ); + result = fmaxf4( spu_promote( spu_extract( vec->vec128, 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = fminf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV3MinElem( const VmathVector3 *vec ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( vec->vec128, 1 ), 0 ), vec->vec128 ); + result = fminf4( spu_promote( spu_extract( vec->vec128, 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline float vmathV3Sum( const VmathVector3 *vec ) +{ + return + spu_extract( vec->vec128, 0 ) + + spu_extract( vec->vec128, 1 ) + + spu_extract( vec->vec128, 2 ); +} + +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + return spu_extract( _vmathVfDot3( vec0->vec128, vec1->vec128 ), 0 ); +} + +static inline float vmathV3LengthSqr( const VmathVector3 *vec ) +{ + return spu_extract( _vmathVfDot3( vec->vec128, vec->vec128 ), 0 ); +} + +static inline float vmathV3Length( const VmathVector3 *vec ) +{ + return sqrtf( vmathV3LengthSqr( vec ) ); +} + +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ) +{ + vec_float4 dot = _vmathVfDot3( vec->vec128, vec->vec128 ); + dot = spu_shuffle( dot, dot, (vec_uchar16)spu_splats(0x00010203) ); + result->vec128 = spu_mul( vec->vec128, rsqrtf4( dot ) ); +} + +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ) +{ + result->vec128 = _vmathVfCross( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ) +{ + result->vec128 = spu_sel( vec0->vec128, vec1->vec128, spu_splats( (unsigned int)-(select1 > 0) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print( const VmathVector3 *vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV4MakeFromElems( VmathVector4 *result, float _x, float _y, float _z, float _w ) +{ + result->vec128 = (vec_float4){ _x, _y, _z, _w }; +} + +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float _w ) +{ + result->vec128 = spu_shuffle( xyz->vec128, spu_promote( _w, 0 ), _VECTORMATH_SHUF_XYZA ); +} + +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->vec128 = spu_sel( vec->vec128, spu_splats(0.0f), (vec_uint4)spu_maskb(0x000f) ); +} + +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = spu_sel( pnt->vec128, spu_splats(1.0f), (vec_uint4)spu_maskb(0x000f) ); +} + +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ) +{ + result->vec128 = quat->vec128; +} + +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ) +{ + result->vec128 = spu_splats( scalar ); +} + +static inline void vmathV4MakeFrom128( VmathVector4 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathV4MakeXAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_1000; +} + +static inline void vmathV4MakeYAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0100; +} + +static inline void vmathV4MakeZAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0010; +} + +static inline void vmathV4MakeWAxis( VmathVector4 *result ) +{ + result->vec128 = _VECTORMATH_UNIT_0001; +} + +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + VmathVector4 tmpV4_0, tmpV4_1; + vmathV4Sub( &tmpV4_0, vec1, vec0 ); + vmathV4ScalarMul( &tmpV4_1, &tmpV4_0, t ); + vmathV4Add( result, vec0, &tmpV4_1 ); +} + +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ) +{ + 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( unitVec0->vec128, unitVec1->vec128 ); + cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx ); + 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 ); + result->vec128 = spu_madd( unitVec0->vec128, scale0, spu_mul( unitVec1->vec128, scale1 ) ); +} + +static inline vec_float4 vmathV4Get128( const VmathVector4 *vec ) +{ + return vec->vec128; +} + +static inline void vmathV4StoreHalfFloats( const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3, vec_ushort8 *twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0->vec128, vec1->vec128); + twoQuads[1] = _vmath2VfToHalfFloats(vec2->vec128, vec3->vec128); +} + +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ) +{ + result->vec128 = spu_sel( vec->vec128, result->vec128, (vec_uint4)spu_maskb(0x000f) ); +} + +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathV4SetX( VmathVector4 *result, float _x ) +{ + result->vec128 = spu_insert( _x, result->vec128, 0 ); +} + +static inline float vmathV4GetX( const VmathVector4 *vec ) +{ + return spu_extract( vec->vec128, 0 ); +} + +static inline void vmathV4SetY( VmathVector4 *result, float _y ) +{ + result->vec128 = spu_insert( _y, result->vec128, 1 ); +} + +static inline float vmathV4GetY( const VmathVector4 *vec ) +{ + return spu_extract( vec->vec128, 1 ); +} + +static inline void vmathV4SetZ( VmathVector4 *result, float _z ) +{ + result->vec128 = spu_insert( _z, result->vec128, 2 ); +} + +static inline float vmathV4GetZ( const VmathVector4 *vec ) +{ + return spu_extract( vec->vec128, 2 ); +} + +static inline void vmathV4SetW( VmathVector4 *result, float _w ) +{ + result->vec128 = spu_insert( _w, result->vec128, 3 ); +} + +static inline float vmathV4GetW( const VmathVector4 *vec ) +{ + return spu_extract( vec->vec128, 3 ); +} + +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ) +{ + result->vec128 = spu_insert( value, result->vec128, idx ); +} + +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ) +{ + return spu_extract( vec->vec128, idx ); +} + +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = spu_add( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = spu_sub( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->vec128 = spu_mul( vec->vec128, spu_splats(scalar) ); +} + +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ) +{ + result->vec128 = divf4( vec->vec128, spu_splats(scalar) ); +} + +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = negatef4( vec->vec128 ); +} + +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = spu_mul( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = divf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = recipf4( vec->vec128 ); +} + +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = sqrtf4( vec->vec128 ); +} + +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = rsqrtf4( vec->vec128 ); +} + +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ) +{ + result->vec128 = fabsf4( vec->vec128 ); +} + +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = copysignf4( vec0->vec128, vec1->vec128 ); +} + +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = fmaxf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV4MaxElem( const VmathVector4 *vec ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( vec->vec128, 1 ), 0 ), vec->vec128 ); + result = fmaxf4( spu_promote( spu_extract( vec->vec128, 2 ), 0 ), result ); + result = fmaxf4( spu_promote( spu_extract( vec->vec128, 3 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + result->vec128 = fminf4( vec0->vec128, vec1->vec128 ); +} + +static inline float vmathV4MinElem( const VmathVector4 *vec ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( vec->vec128, 1 ), 0 ), vec->vec128 ); + result = fminf4( spu_promote( spu_extract( vec->vec128, 2 ), 0 ), result ); + result = fminf4( spu_promote( spu_extract( vec->vec128, 3 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline float vmathV4Sum( const VmathVector4 *vec ) +{ + return + spu_extract( vec->vec128, 0 ) + + spu_extract( vec->vec128, 1 ) + + spu_extract( vec->vec128, 2 ) + + spu_extract( vec->vec128, 3 ); +} + +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ) +{ + return spu_extract( _vmathVfDot4( vec0->vec128, vec1->vec128 ), 0 ); +} + +static inline float vmathV4LengthSqr( const VmathVector4 *vec ) +{ + return spu_extract( _vmathVfDot4( vec->vec128, vec->vec128 ), 0 ); +} + +static inline float vmathV4Length( const VmathVector4 *vec ) +{ + return sqrtf( vmathV4LengthSqr( vec ) ); +} + +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ) +{ + vec_float4 dot = _vmathVfDot4( vec->vec128, vec->vec128 ); + result->vec128 = spu_mul( vec->vec128, rsqrtf4( dot ) ); +} + +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ) +{ + result->vec128 = spu_sel( vec0->vec128, vec1->vec128, spu_splats( (unsigned int)-(select1 > 0) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print( const VmathVector4 *vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec->vec128; + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = pnt->vec128; +} + +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float _x, float _y, float _z ) +{ + result->vec128 = (vec_float4){ _x, _y, _z, 0.0f }; +} + +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ) +{ + result->vec128 = vec->vec128; +} + +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ) +{ + result->vec128 = spu_splats( scalar ); +} + +static inline void vmathP3MakeFrom128( VmathPoint3 *result, vec_float4 vf4 ) +{ + result->vec128 = vf4; +} + +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0, tmpV3_1; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathP3AddV3( result, pnt0, &tmpV3_1 ); +} + +static inline vec_float4 vmathP3Get128( const VmathPoint3 *pnt ) +{ + return pnt->vec128; +} + +static inline void vmathP3StoreXYZ( const VmathPoint3 *pnt, vec_float4 *quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = (vec_uint4)spu_maskb(0x000f); + dstVec = spu_sel(pnt->vec128, dstVec, mask); + *quad = dstVec; +} + +static inline void vmathP3LoadXYZArray( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_WABC ); + xyz2 = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_ZWAB ); + xyz3 = spu_rlqwbyte( zxyz, 4 ); + pnt0->vec128 = xyzx; + pnt1->vec128 = xyz1; + pnt2->vec128 = xyz2; + pnt3->vec128 = xyz3; +} + +static inline void vmathP3StoreXYZArray( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = spu_shuffle( pnt0->vec128, pnt1->vec128, _VECTORMATH_SHUF_XYZA ); + yzxy = spu_shuffle( pnt1->vec128, pnt2->vec128, _VECTORMATH_SHUF_YZAB ); + zxyz = spu_shuffle( pnt2->vec128, pnt3->vec128, _VECTORMATH_SHUF_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathP3StoreHalfFloats( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, const VmathPoint3 *pnt4, const VmathPoint3 *pnt5, const VmathPoint3 *pnt6, const VmathPoint3 *pnt7, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathP3StoreXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + vmathP3StoreXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathP3SetX( VmathPoint3 *result, float _x ) +{ + result->vec128 = spu_insert( _x, result->vec128, 0 ); +} + +static inline float vmathP3GetX( const VmathPoint3 *pnt ) +{ + return spu_extract( pnt->vec128, 0 ); +} + +static inline void vmathP3SetY( VmathPoint3 *result, float _y ) +{ + result->vec128 = spu_insert( _y, result->vec128, 1 ); +} + +static inline float vmathP3GetY( const VmathPoint3 *pnt ) +{ + return spu_extract( pnt->vec128, 1 ); +} + +static inline void vmathP3SetZ( VmathPoint3 *result, float _z ) +{ + result->vec128 = spu_insert( _z, result->vec128, 2 ); +} + +static inline float vmathP3GetZ( const VmathPoint3 *pnt ) +{ + return spu_extract( pnt->vec128, 2 ); +} + +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ) +{ + result->vec128 = spu_insert( value, result->vec128, idx ); +} + +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ) +{ + return spu_extract( pnt->vec128, idx ); +} + +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = spu_sub( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->vec128 = spu_add( pnt->vec128, vec1->vec128 ); +} + +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec1 ) +{ + result->vec128 = spu_sub( pnt->vec128, vec1->vec128 ); +} + +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = spu_mul( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = divf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = recipf4( pnt->vec128 ); +} + +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = sqrtf4( pnt->vec128 ); +} + +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = rsqrtf4( pnt->vec128 ); +} + +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ) +{ + result->vec128 = fabsf4( pnt->vec128 ); +} + +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = copysignf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = fmaxf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( pnt->vec128, 1 ), 0 ), pnt->vec128 ); + result = fmaxf4( spu_promote( spu_extract( pnt->vec128, 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + result->vec128 = fminf4( pnt0->vec128, pnt1->vec128 ); +} + +static inline float vmathP3MinElem( const VmathPoint3 *pnt ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( pnt->vec128, 1 ), 0 ), pnt->vec128 ); + result = fminf4( spu_promote( spu_extract( pnt->vec128, 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +static inline float vmathP3Sum( const VmathPoint3 *pnt ) +{ + return + spu_extract( pnt->vec128, 0 ) + + spu_extract( pnt->vec128, 1 ) + + spu_extract( pnt->vec128, 2 ); +} + +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromScalar( &tmpP3_0, scaleVal ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ) +{ + VmathPoint3 tmpP3_0; + vmathP3MakeFromV3( &tmpP3_0, scaleVec ); + vmathP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ) +{ + return spu_extract( _vmathVfDot3( pnt->vec128, unitVec->vec128 ), 0 ); +} + +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ) +{ + VmathVector3 tmpV3_0; + vmathV3MakeFromP3( &tmpV3_0, pnt ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3LengthSqr( &tmpV3_0 ); +} + +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ) +{ + VmathVector3 tmpV3_0; + vmathP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathV3Length( &tmpV3_0 ); +} + +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ) +{ + result->vec128 = spu_sel( pnt0->vec128, pnt1->vec128, spu_splats( (unsigned int)-(select1 > 0) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print( const VmathPoint3 *pnt ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt->vec128; + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt->vec128; + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos_v.h new file mode 100644 index 000000000..7cf0fa9cc --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_aos_v.h @@ -0,0 +1,951 @@ +/* + 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_VEC_AOS_V_C_H +#define _VECTORMATH_VEC_AOS_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_WABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_SHUF_ZWAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathVector3 vmathV3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathVector3 result; + vmathV3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector3 result; + vmathV3MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ) +{ + VmathVector3 result; + vmathV3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector3 vmathV3MakeFrom128_V( vec_float4 vf4 ) +{ + VmathVector3 result; + vmathV3MakeFrom128(&result, vf4); + return result; +} + +static inline VmathVector3 vmathV3MakeXAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeXAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeYAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeYAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3MakeZAxis_V( ) +{ + VmathVector3 result; + vmathV3MakeZAxis(&result); + return result; +} + +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ) +{ + VmathVector3 result; + vmathV3Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline vec_float4 vmathV3Get128_V( VmathVector3 vec ) +{ + return vmathV3Get128(&vec); +} + +static inline void vmathV3StoreXYZ_V( VmathVector3 vec, vec_float4 *quad ) +{ + vmathV3StoreXYZ(&vec, quad); +} + +static inline void vmathV3LoadXYZArray_V( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ) +{ + vmathV3LoadXYZArray(vec0, vec1, vec2, vec3, threeQuads); +} + +static inline void vmathV3StoreXYZArray_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, vec_float4 *threeQuads ) +{ + vmathV3StoreXYZArray(&vec0, &vec1, &vec2, &vec3, threeQuads); +} + +static inline void vmathV3StoreHalfFloats_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, VmathVector3 vec4, VmathVector3 vec5, VmathVector3 vec6, VmathVector3 vec7, vec_ushort8 *threeQuads ) +{ + vmathV3StoreHalfFloats(&vec0, &vec1, &vec2, &vec3, &vec4, &vec5, &vec6, &vec7, threeQuads); +} + +static inline void vmathV3SetX_V( VmathVector3 *result, float _x ) +{ + vmathV3SetX(result, _x); +} + +static inline float vmathV3GetX_V( VmathVector3 vec ) +{ + return vmathV3GetX(&vec); +} + +static inline void vmathV3SetY_V( VmathVector3 *result, float _y ) +{ + vmathV3SetY(result, _y); +} + +static inline float vmathV3GetY_V( VmathVector3 vec ) +{ + return vmathV3GetY(&vec); +} + +static inline void vmathV3SetZ_V( VmathVector3 *result, float _z ) +{ + vmathV3SetZ(result, _z); +} + +static inline float vmathV3GetZ_V( VmathVector3 vec ) +{ + return vmathV3GetZ(&vec); +} + +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ) +{ + vmathV3SetElem(result, idx, value); +} + +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ) +{ + return vmathV3GetElem(&vec, idx); +} + +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathV3AddP3(&result, &vec, &pnt1); + return result; +} + +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ) +{ + VmathVector3 result; + vmathV3ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Neg(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MaxElem_V( VmathVector3 vec ) +{ + return vmathV3MaxElem(&vec); +} + +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV3MinElem_V( VmathVector3 vec ) +{ + return vmathV3MinElem(&vec); +} + +static inline float vmathV3Sum_V( VmathVector3 vec ) +{ + return vmathV3Sum(&vec); +} + +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + return vmathV3Dot(&vec0, &vec1); +} + +static inline float vmathV3LengthSqr_V( VmathVector3 vec ) +{ + return vmathV3LengthSqr(&vec); +} + +static inline float vmathV3Length_V( VmathVector3 vec ) +{ + return vmathV3Length(&vec); +} + +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ) +{ + VmathVector3 result; + vmathV3Normalize(&result, &vec); + return result; +} + +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ) +{ + VmathVector3 result; + vmathV3Cross(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ) +{ + VmathVector3 result; + vmathV3Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV3Print_V( VmathVector3 vec ) +{ + vmathV3Print(&vec); +} + +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ) +{ + vmathV3Prints(&vec, name); +} + +#endif + +static inline VmathVector4 vmathV4MakeFromElems_V( float _x, float _y, float _z, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float _w ) +{ + VmathVector4 result; + vmathV4MakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ) +{ + VmathVector4 result; + vmathV4MakeFromV3(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ) +{ + VmathVector4 result; + vmathV4MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ) +{ + VmathVector4 result; + vmathV4MakeFromQ(&result, &quat); + return result; +} + +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ) +{ + VmathVector4 result; + vmathV4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathVector4 vmathV4MakeFrom128_V( vec_float4 vf4 ) +{ + VmathVector4 result; + vmathV4MakeFrom128(&result, vf4); + return result; +} + +static inline VmathVector4 vmathV4MakeXAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeXAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeYAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeYAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeZAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeZAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4MakeWAxis_V( ) +{ + VmathVector4 result; + vmathV4MakeWAxis(&result); + return result; +} + +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ) +{ + VmathVector4 result; + vmathV4Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline vec_float4 vmathV4Get128_V( VmathVector4 vec ) +{ + return vmathV4Get128(&vec); +} + +static inline void vmathV4StoreHalfFloats_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3, vec_ushort8 *twoQuads ) +{ + vmathV4StoreHalfFloats(&vec0, &vec1, &vec2, &vec3, twoQuads); +} + +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ) +{ + vmathV4SetXYZ(result, &vec); +} + +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ) +{ + VmathVector3 result; + vmathV4GetXYZ(&result, &vec); + return result; +} + +static inline void vmathV4SetX_V( VmathVector4 *result, float _x ) +{ + vmathV4SetX(result, _x); +} + +static inline float vmathV4GetX_V( VmathVector4 vec ) +{ + return vmathV4GetX(&vec); +} + +static inline void vmathV4SetY_V( VmathVector4 *result, float _y ) +{ + vmathV4SetY(result, _y); +} + +static inline float vmathV4GetY_V( VmathVector4 vec ) +{ + return vmathV4GetY(&vec); +} + +static inline void vmathV4SetZ_V( VmathVector4 *result, float _z ) +{ + vmathV4SetZ(result, _z); +} + +static inline float vmathV4GetZ_V( VmathVector4 vec ) +{ + return vmathV4GetZ(&vec); +} + +static inline void vmathV4SetW_V( VmathVector4 *result, float _w ) +{ + vmathV4SetW(result, _w); +} + +static inline float vmathV4GetW_V( VmathVector4 vec ) +{ + return vmathV4GetW(&vec); +} + +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ) +{ + vmathV4SetElem(result, idx, value); +} + +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ) +{ + return vmathV4GetElem(&vec, idx); +} + +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ) +{ + VmathVector4 result; + vmathV4ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Neg(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RecipPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4AbsPerElem(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MaxElem_V( VmathVector4 vec ) +{ + return vmathV4MaxElem(&vec); +} + +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + VmathVector4 result; + vmathV4MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline float vmathV4MinElem_V( VmathVector4 vec ) +{ + return vmathV4MinElem(&vec); +} + +static inline float vmathV4Sum_V( VmathVector4 vec ) +{ + return vmathV4Sum(&vec); +} + +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ) +{ + return vmathV4Dot(&vec0, &vec1); +} + +static inline float vmathV4LengthSqr_V( VmathVector4 vec ) +{ + return vmathV4LengthSqr(&vec); +} + +static inline float vmathV4Length_V( VmathVector4 vec ) +{ + return vmathV4Length(&vec); +} + +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ) +{ + VmathVector4 result; + vmathV4Normalize(&result, &vec); + return result; +} + +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ) +{ + VmathVector4 result; + vmathV4Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathV4Print_V( VmathVector4 vec ) +{ + vmathV4Print(&vec); +} + +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ) +{ + vmathV4Prints(&vec, name); +} + +#endif + +static inline VmathPoint3 vmathP3MakeFromElems_V( float _x, float _y, float _z ) +{ + VmathPoint3 result; + vmathP3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ) +{ + VmathPoint3 result; + vmathP3MakeFromV3(&result, &vec); + return result; +} + +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ) +{ + VmathPoint3 result; + vmathP3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathPoint3 vmathP3MakeFrom128_V( vec_float4 vf4 ) +{ + VmathPoint3 result; + vmathP3MakeFrom128(&result, vf4); + return result; +} + +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3Lerp(&result, t, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathP3Get128_V( VmathPoint3 pnt ) +{ + return vmathP3Get128(&pnt); +} + +static inline void vmathP3StoreXYZ_V( VmathPoint3 pnt, vec_float4 *quad ) +{ + vmathP3StoreXYZ(&pnt, quad); +} + +static inline void vmathP3LoadXYZArray_V( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ) +{ + vmathP3LoadXYZArray(pnt0, pnt1, pnt2, pnt3, threeQuads); +} + +static inline void vmathP3StoreXYZArray_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, vec_float4 *threeQuads ) +{ + vmathP3StoreXYZArray(&pnt0, &pnt1, &pnt2, &pnt3, threeQuads); +} + +static inline void vmathP3StoreHalfFloats_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, VmathPoint3 pnt4, VmathPoint3 pnt5, VmathPoint3 pnt6, VmathPoint3 pnt7, vec_ushort8 *threeQuads ) +{ + vmathP3StoreHalfFloats(&pnt0, &pnt1, &pnt2, &pnt3, &pnt4, &pnt5, &pnt6, &pnt7, threeQuads); +} + +static inline void vmathP3SetX_V( VmathPoint3 *result, float _x ) +{ + vmathP3SetX(result, _x); +} + +static inline float vmathP3GetX_V( VmathPoint3 pnt ) +{ + return vmathP3GetX(&pnt); +} + +static inline void vmathP3SetY_V( VmathPoint3 *result, float _y ) +{ + vmathP3SetY(result, _y); +} + +static inline float vmathP3GetY_V( VmathPoint3 pnt ) +{ + return vmathP3GetY(&pnt); +} + +static inline void vmathP3SetZ_V( VmathPoint3 *result, float _z ) +{ + vmathP3SetZ(result, _z); +} + +static inline float vmathP3GetZ_V( VmathPoint3 pnt ) +{ + return vmathP3GetZ(&pnt); +} + +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ) +{ + vmathP3SetElem(result, idx, value); +} + +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ) +{ + return vmathP3GetElem(&pnt, idx); +} + +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathVector3 result; + vmathP3Sub(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3AddV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec1 ) +{ + VmathPoint3 result; + vmathP3SubV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MulPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3DivPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RecipPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3SqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3RsqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ) +{ + VmathPoint3 result; + vmathP3AbsPerElem(&result, &pnt); + return result; +} + +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3CopySignPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MaxPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ) +{ + return vmathP3MaxElem(&pnt); +} + +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + VmathPoint3 result; + vmathP3MinPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline float vmathP3MinElem_V( VmathPoint3 pnt ) +{ + return vmathP3MinElem(&pnt); +} + +static inline float vmathP3Sum_V( VmathPoint3 pnt ) +{ + return vmathP3Sum(&pnt); +} + +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ) +{ + VmathPoint3 result; + vmathP3Scale(&result, &pnt, scaleVal); + return result; +} + +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ) +{ + VmathPoint3 result; + vmathP3NonUniformScale(&result, &pnt, &scaleVec); + return result; +} + +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ) +{ + return vmathP3Projection(&pnt, &unitVec); +} + +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistSqrFromOrigin(&pnt); +} + +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ) +{ + return vmathP3DistFromOrigin(&pnt); +} + +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3DistSqr(&pnt0, &pnt1); +} + +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ) +{ + return vmathP3Dist(&pnt0, &pnt1); +} + +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ) +{ + VmathPoint3 result; + vmathP3Select(&result, &pnt0, &pnt1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathP3Print_V( VmathPoint3 pnt ) +{ + vmathP3Print(&pnt); +} + +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ) +{ + vmathP3Prints(&pnt, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa.h new file mode 100644 index 000000000..608b38562 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa.h @@ -0,0 +1,1237 @@ +/* + 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_VEC_SOA_C_H +#define _VECTORMATH_VEC_SOA_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_ZDW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZDXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YAWC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline void vmathSoaV3Copy( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaV3MakeFromElems( VmathSoaVector3 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathSoaV3MakeFromP3( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathSoaV3MakeFromScalar( VmathSoaVector3 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathSoaV3MakeFromAos( VmathSoaVector3 *result, const VmathVector3 *vec ) +{ + 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_float4 vec128 = vec->vec128; + result->x = spu_shuffle( vec128, vec128, shuffle_xxxx ); + result->y = spu_shuffle( vec128, vec128, shuffle_yyyy ); + result->z = spu_shuffle( vec128, vec128, shuffle_zzzz ); +} + +static inline void vmathSoaV3MakeFrom4Aos( VmathSoaVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( vec0->vec128, vec2->vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec1->vec128, vec3->vec128, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( vec0->vec128, vec2->vec128, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( vec1->vec128, vec3->vec128, _VECTORMATH_SHUF_ZCWD ); + result->x = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + result->y = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + result->z = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); +} + +static inline void vmathSoaV3MakeXAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +static inline void vmathSoaV3MakeYAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f) ); +} + +static inline void vmathSoaV3MakeZAxis( VmathSoaVector3 *result ) +{ + vmathSoaV3MakeFromElems( result, spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) ); +} + +static inline void vmathSoaV3Lerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vmathSoaV3Sub( &tmpV3_0, vec1, vec0 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathSoaV3Add( result, vec0, &tmpV3_1 ); +} + +static inline void vmathSoaV3Slerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaV3Dot( unitVec0, unitVec1 ); + 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 ); + vmathSoaV3ScalarMul( &tmpV3_0, unitVec0, scale0 ); + vmathSoaV3ScalarMul( &tmpV3_1, unitVec1, scale1 ); + vmathSoaV3Add( result, &tmpV3_0, &tmpV3_1 ); +} + +static inline void vmathSoaV3Get4Aos( const VmathSoaVector3 *vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ) +{ + vec_float4 tmp0, tmp1; + tmp0 = spu_shuffle( vec->x, vec->z, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec->x, vec->z, _VECTORMATH_SHUF_ZCWD ); + vmathV3MakeFrom128( result0, spu_shuffle( tmp0, vec->y, _VECTORMATH_SHUF_XAYB ) ); + vmathV3MakeFrom128( result1, spu_shuffle( tmp0, vec->y, _VECTORMATH_SHUF_ZBW0 ) ); + vmathV3MakeFrom128( result2, spu_shuffle( tmp1, vec->y, _VECTORMATH_SHUF_XCY0 ) ); + vmathV3MakeFrom128( result3, spu_shuffle( tmp1, vec->y, _VECTORMATH_SHUF_ZDW0 ) ); +} + +static inline void vmathSoaV3LoadXYZArray( VmathSoaVector3 *vec, const vec_float4 *threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_XYCD ); + zxzx = spu_shuffle( zxyz, xyzx, _VECTORMATH_SHUF_XYCD ); + yzyz = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_XYCD ); + vmathSoaV3SetX( vec, spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XDZB ) ); + vmathSoaV3SetY( vec, spu_shuffle( xyxy, yzyz, _VECTORMATH_SHUF_YAWC ) ); + vmathSoaV3SetZ( vec, spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_ZBXD ) ); +} + +static inline void vmathSoaV3StoreXYZArray( const VmathSoaVector3 *vec, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = spu_shuffle( vec->x, vec->y, _VECTORMATH_SHUF_XAZC ); + zxzx = spu_shuffle( vec->z, vec->x, _VECTORMATH_SHUF_ZDXB ); + yzyz = spu_shuffle( vec->y, vec->z, _VECTORMATH_SHUF_YBWD ); + xyzx = spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XYCD ); + yzxy = spu_shuffle( yzyz, xyxy, _VECTORMATH_SHUF_XYCD ); + zxyz = spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_XYCD ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathSoaV3StoreHalfFloats( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathSoaV3StoreXYZArray( vec0, xyz0 ); + vmathSoaV3StoreXYZArray( vec1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathSoaV3SetX( VmathSoaVector3 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaV3GetX( const VmathSoaVector3 *vec ) +{ + return vec->x; +} + +static inline void vmathSoaV3SetY( VmathSoaVector3 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaV3GetY( const VmathSoaVector3 *vec ) +{ + return vec->y; +} + +static inline void vmathSoaV3SetZ( VmathSoaVector3 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaV3GetZ( const VmathSoaVector3 *vec ) +{ + return vec->z; +} + +static inline void vmathSoaV3SetElem( VmathSoaVector3 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaV3GetElem( const VmathSoaVector3 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathSoaV3Add( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = spu_add( vec0->x, vec1->x ); + result->y = spu_add( vec0->y, vec1->y ); + result->z = spu_add( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3Sub( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = spu_sub( vec0->x, vec1->x ); + result->y = spu_sub( vec0->y, vec1->y ); + result->z = spu_sub( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3AddP3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec, const VmathSoaPoint3 *pnt1 ) +{ + result->x = spu_add( vec->x, pnt1->x ); + result->y = spu_add( vec->y, pnt1->y ); + result->z = spu_add( vec->z, pnt1->z ); +} + +static inline void vmathSoaV3ScalarMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ) +{ + result->x = spu_mul( vec->x, scalar ); + result->y = spu_mul( vec->y, scalar ); + result->z = spu_mul( vec->z, scalar ); +} + +static inline void vmathSoaV3ScalarDiv( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ) +{ + result->x = divf4( vec->x, scalar ); + result->y = divf4( vec->y, scalar ); + result->z = divf4( vec->z, scalar ); +} + +static inline void vmathSoaV3Neg( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = negatef4( vec->x ); + result->y = negatef4( vec->y ); + result->z = negatef4( vec->z ); +} + +static inline void vmathSoaV3MulPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = spu_mul( vec0->x, vec1->x ); + result->y = spu_mul( vec0->y, vec1->y ); + result->z = spu_mul( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3DivPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = divf4( vec0->x, vec1->x ); + result->y = divf4( vec0->y, vec1->y ); + result->z = divf4( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3RecipPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = recipf4( vec->x ); + result->y = recipf4( vec->y ); + result->z = recipf4( vec->z ); +} + +static inline void vmathSoaV3SqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = sqrtf4( vec->x ); + result->y = sqrtf4( vec->y ); + result->z = sqrtf4( vec->z ); +} + +static inline void vmathSoaV3RsqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = rsqrtf4( vec->x ); + result->y = rsqrtf4( vec->y ); + result->z = rsqrtf4( vec->z ); +} + +static inline void vmathSoaV3AbsPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + result->x = fabsf4( vec->x ); + result->y = fabsf4( vec->y ); + result->z = fabsf4( vec->z ); +} + +static inline void vmathSoaV3CopySignPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = copysignf4( vec0->x, vec1->x ); + result->y = copysignf4( vec0->y, vec1->y ); + result->z = copysignf4( vec0->z, vec1->z ); +} + +static inline void vmathSoaV3MaxPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = fmaxf4( vec0->x, vec1->x ); + result->y = fmaxf4( vec0->y, vec1->y ); + result->z = fmaxf4( vec0->z, vec1->z ); +} + +static inline vec_float4 vmathSoaV3MaxElem( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec->x, vec->y ); + result = fmaxf4( vec->z, result ); + return result; +} + +static inline void vmathSoaV3MinPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + result->x = fminf4( vec0->x, vec1->x ); + result->y = fminf4( vec0->y, vec1->y ); + result->z = fminf4( vec0->z, vec1->z ); +} + +static inline vec_float4 vmathSoaV3MinElem( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = fminf4( vec->x, vec->y ); + result = fminf4( vec->z, result ); + return result; +} + +static inline vec_float4 vmathSoaV3Sum( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = spu_add( vec->x, vec->y ); + result = spu_add( result, vec->z ); + return result; +} + +static inline vec_float4 vmathSoaV3Dot( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0->x, vec1->x ); + result = spu_add( result, spu_mul( vec0->y, vec1->y ) ); + result = spu_add( result, spu_mul( vec0->z, vec1->z ) ); + return result; +} + +static inline vec_float4 vmathSoaV3LengthSqr( const VmathSoaVector3 *vec ) +{ + vec_float4 result; + result = spu_mul( vec->x, vec->x ); + result = spu_add( result, spu_mul( vec->y, vec->y ) ); + result = spu_add( result, spu_mul( vec->z, vec->z ) ); + return result; +} + +static inline vec_float4 vmathSoaV3Length( const VmathSoaVector3 *vec ) +{ + return sqrtf4( vmathSoaV3LengthSqr( vec ) ); +} + +static inline void vmathSoaV3Normalize( VmathSoaVector3 *result, const VmathSoaVector3 *vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaV3LengthSqr( vec ); + lenInv = rsqrtf4( lenSqr ); + result->x = spu_mul( vec->x, lenInv ); + result->y = spu_mul( vec->y, lenInv ); + result->z = spu_mul( vec->z, lenInv ); +} + +static inline void vmathSoaV3Cross( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ) +{ + vec_float4 tmpX, tmpY, tmpZ; + tmpX = spu_sub( spu_mul( vec0->y, vec1->z ), spu_mul( vec0->z, vec1->y ) ); + tmpY = spu_sub( spu_mul( vec0->z, vec1->x ), spu_mul( vec0->x, vec1->z ) ); + tmpZ = spu_sub( spu_mul( vec0->x, vec1->y ), spu_mul( vec0->y, vec1->x ) ); + vmathSoaV3MakeFromElems( result, tmpX, tmpY, tmpZ ); +} + +static inline void vmathSoaV3Select( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_uint4 select1 ) +{ + result->x = spu_sel( vec0->x, vec1->x, select1 ); + result->y = spu_sel( vec0->y, vec1->y, select1 ); + result->z = spu_sel( vec0->z, vec1->z, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV3Print( const VmathSoaVector3 *vec ) +{ + VmathVector3 vec0, vec1, vec2, vec3; + vmathSoaV3Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV3Print( &vec0 ); + printf("slot 1:\n"); + vmathV3Print( &vec1 ); + printf("slot 2:\n"); + vmathV3Print( &vec2 ); + printf("slot 3:\n"); + vmathV3Print( &vec3 ); +} + +static inline void vmathSoaV3Prints( const VmathSoaVector3 *vec, const char *name ) +{ + VmathVector3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaV3Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV3Print( &vec0 ); + printf("slot 1:\n"); + vmathV3Print( &vec1 ); + printf("slot 2:\n"); + vmathV3Print( &vec2 ); + printf("slot 3:\n"); + vmathV3Print( &vec3 ); +} + +#endif + +static inline void vmathSoaV4Copy( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = vec->w; +} + +static inline void vmathSoaV4MakeFromElems( VmathSoaVector4 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + result->x = _x; + result->y = _y; + result->z = _z; + result->w = _w; +} + +static inline void vmathSoaV4MakeFromV3Scalar( VmathSoaVector4 *result, const VmathSoaVector3 *xyz, vec_float4 _w ) +{ + vmathSoaV4SetXYZ( result, xyz ); + vmathSoaV4SetW( result, _w ); +} + +static inline void vmathSoaV4MakeFromV3( VmathSoaVector4 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; + result->w = spu_splats(0.0f); +} + +static inline void vmathSoaV4MakeFromP3( VmathSoaVector4 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; + result->w = spu_splats(1.0f); +} + +static inline void vmathSoaV4MakeFromQ( VmathSoaVector4 *result, const VmathSoaQuat *quat ) +{ + result->x = quat->x; + result->y = quat->y; + result->z = quat->z; + result->w = quat->w; +} + +static inline void vmathSoaV4MakeFromScalar( VmathSoaVector4 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; + result->w = scalar; +} + +static inline void vmathSoaV4MakeFromAos( VmathSoaVector4 *result, const VmathVector4 *vec ) +{ + 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 = vec->vec128; + result->x = spu_shuffle( vec128, vec128, shuffle_xxxx ); + result->y = spu_shuffle( vec128, vec128, shuffle_yyyy ); + result->z = spu_shuffle( vec128, vec128, shuffle_zzzz ); + result->w = spu_shuffle( vec128, vec128, shuffle_wwww ); +} + +static inline void vmathSoaV4MakeFrom4Aos( VmathSoaVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( vec0->vec128, vec2->vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec1->vec128, vec3->vec128, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( vec0->vec128, vec2->vec128, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( vec1->vec128, vec3->vec128, _VECTORMATH_SHUF_ZCWD ); + result->x = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + result->y = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + result->z = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); + result->w = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ); +} + +static inline void vmathSoaV4MakeXAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +static inline void vmathSoaV4MakeYAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +static inline void vmathSoaV4MakeZAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f) ); +} + +static inline void vmathSoaV4MakeWAxis( VmathSoaVector4 *result ) +{ + vmathSoaV4MakeFromElems( result, spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) ); +} + +static inline void vmathSoaV4Lerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + VmathSoaVector4 tmpV4_0, tmpV4_1; + vmathSoaV4Sub( &tmpV4_0, vec1, vec0 ); + vmathSoaV4ScalarMul( &tmpV4_1, &tmpV4_0, t ); + vmathSoaV4Add( result, vec0, &tmpV4_1 ); +} + +static inline void vmathSoaV4Slerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *unitVec0, const VmathSoaVector4 *unitVec1 ) +{ + VmathSoaVector4 tmpV4_0, tmpV4_1; + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = vmathSoaV4Dot( unitVec0, unitVec1 ); + 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 ); + vmathSoaV4ScalarMul( &tmpV4_0, unitVec0, scale0 ); + vmathSoaV4ScalarMul( &tmpV4_1, unitVec1, scale1 ); + vmathSoaV4Add( result, &tmpV4_0, &tmpV4_1 ); +} + +static inline void vmathSoaV4Get4Aos( const VmathSoaVector4 *vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( vec->x, vec->z, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec->y, vec->w, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( vec->x, vec->z, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( vec->y, vec->w, _VECTORMATH_SHUF_ZCWD ); + vmathV4MakeFrom128( result0, spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ) ); + vmathV4MakeFrom128( result1, spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ) ); + vmathV4MakeFrom128( result2, spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ) ); + vmathV4MakeFrom128( result3, spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ) ); +} + +static inline void vmathSoaV4StoreHalfFloats( const VmathSoaVector4 *vec, vec_ushort8 *twoQuads ) +{ + VmathVector4 v0, v1, v2, v3; + vmathSoaV4Get4Aos( vec, &v0, &v1, &v2, &v3 ); + twoQuads[0] = _vmath2VfToHalfFloats(v0.vec128, v1.vec128); + twoQuads[1] = _vmath2VfToHalfFloats(v2.vec128, v3.vec128); +} + +static inline void vmathSoaV4SetXYZ( VmathSoaVector4 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaV4GetXYZ( VmathSoaVector3 *result, const VmathSoaVector4 *vec ) +{ + vmathSoaV3MakeFromElems( result, vec->x, vec->y, vec->z ); +} + +static inline void vmathSoaV4SetX( VmathSoaVector4 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaV4GetX( const VmathSoaVector4 *vec ) +{ + return vec->x; +} + +static inline void vmathSoaV4SetY( VmathSoaVector4 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaV4GetY( const VmathSoaVector4 *vec ) +{ + return vec->y; +} + +static inline void vmathSoaV4SetZ( VmathSoaVector4 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaV4GetZ( const VmathSoaVector4 *vec ) +{ + return vec->z; +} + +static inline void vmathSoaV4SetW( VmathSoaVector4 *result, vec_float4 _w ) +{ + result->w = _w; +} + +static inline vec_float4 vmathSoaV4GetW( const VmathSoaVector4 *vec ) +{ + return vec->w; +} + +static inline void vmathSoaV4SetElem( VmathSoaVector4 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaV4GetElem( const VmathSoaVector4 *vec, int idx ) +{ + return *(&vec->x + idx); +} + +static inline void vmathSoaV4Add( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = spu_add( vec0->x, vec1->x ); + result->y = spu_add( vec0->y, vec1->y ); + result->z = spu_add( vec0->z, vec1->z ); + result->w = spu_add( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4Sub( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = spu_sub( vec0->x, vec1->x ); + result->y = spu_sub( vec0->y, vec1->y ); + result->z = spu_sub( vec0->z, vec1->z ); + result->w = spu_sub( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4ScalarMul( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ) +{ + result->x = spu_mul( vec->x, scalar ); + result->y = spu_mul( vec->y, scalar ); + result->z = spu_mul( vec->z, scalar ); + result->w = spu_mul( vec->w, scalar ); +} + +static inline void vmathSoaV4ScalarDiv( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ) +{ + result->x = divf4( vec->x, scalar ); + result->y = divf4( vec->y, scalar ); + result->z = divf4( vec->z, scalar ); + result->w = divf4( vec->w, scalar ); +} + +static inline void vmathSoaV4Neg( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = negatef4( vec->x ); + result->y = negatef4( vec->y ); + result->z = negatef4( vec->z ); + result->w = negatef4( vec->w ); +} + +static inline void vmathSoaV4MulPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = spu_mul( vec0->x, vec1->x ); + result->y = spu_mul( vec0->y, vec1->y ); + result->z = spu_mul( vec0->z, vec1->z ); + result->w = spu_mul( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4DivPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = divf4( vec0->x, vec1->x ); + result->y = divf4( vec0->y, vec1->y ); + result->z = divf4( vec0->z, vec1->z ); + result->w = divf4( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4RecipPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = recipf4( vec->x ); + result->y = recipf4( vec->y ); + result->z = recipf4( vec->z ); + result->w = recipf4( vec->w ); +} + +static inline void vmathSoaV4SqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = sqrtf4( vec->x ); + result->y = sqrtf4( vec->y ); + result->z = sqrtf4( vec->z ); + result->w = sqrtf4( vec->w ); +} + +static inline void vmathSoaV4RsqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = rsqrtf4( vec->x ); + result->y = rsqrtf4( vec->y ); + result->z = rsqrtf4( vec->z ); + result->w = rsqrtf4( vec->w ); +} + +static inline void vmathSoaV4AbsPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + result->x = fabsf4( vec->x ); + result->y = fabsf4( vec->y ); + result->z = fabsf4( vec->z ); + result->w = fabsf4( vec->w ); +} + +static inline void vmathSoaV4CopySignPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = copysignf4( vec0->x, vec1->x ); + result->y = copysignf4( vec0->y, vec1->y ); + result->z = copysignf4( vec0->z, vec1->z ); + result->w = copysignf4( vec0->w, vec1->w ); +} + +static inline void vmathSoaV4MaxPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = fmaxf4( vec0->x, vec1->x ); + result->y = fmaxf4( vec0->y, vec1->y ); + result->z = fmaxf4( vec0->z, vec1->z ); + result->w = fmaxf4( vec0->w, vec1->w ); +} + +static inline vec_float4 vmathSoaV4MaxElem( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = fmaxf4( vec->x, vec->y ); + result = fmaxf4( vec->z, result ); + result = fmaxf4( vec->w, result ); + return result; +} + +static inline void vmathSoaV4MinPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + result->x = fminf4( vec0->x, vec1->x ); + result->y = fminf4( vec0->y, vec1->y ); + result->z = fminf4( vec0->z, vec1->z ); + result->w = fminf4( vec0->w, vec1->w ); +} + +static inline vec_float4 vmathSoaV4MinElem( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = fminf4( vec->x, vec->y ); + result = fminf4( vec->z, result ); + result = fminf4( vec->w, result ); + return result; +} + +static inline vec_float4 vmathSoaV4Sum( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = spu_add( vec->x, vec->y ); + result = spu_add( result, vec->z ); + result = spu_add( result, vec->w ); + return result; +} + +static inline vec_float4 vmathSoaV4Dot( const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0->x, vec1->x ); + result = spu_add( result, spu_mul( vec0->y, vec1->y ) ); + result = spu_add( result, spu_mul( vec0->z, vec1->z ) ); + result = spu_add( result, spu_mul( vec0->w, vec1->w ) ); + return result; +} + +static inline vec_float4 vmathSoaV4LengthSqr( const VmathSoaVector4 *vec ) +{ + vec_float4 result; + result = spu_mul( vec->x, vec->x ); + result = spu_add( result, spu_mul( vec->y, vec->y ) ); + result = spu_add( result, spu_mul( vec->z, vec->z ) ); + result = spu_add( result, spu_mul( vec->w, vec->w ) ); + return result; +} + +static inline vec_float4 vmathSoaV4Length( const VmathSoaVector4 *vec ) +{ + return sqrtf4( vmathSoaV4LengthSqr( vec ) ); +} + +static inline void vmathSoaV4Normalize( VmathSoaVector4 *result, const VmathSoaVector4 *vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = vmathSoaV4LengthSqr( vec ); + lenInv = rsqrtf4( lenSqr ); + result->x = spu_mul( vec->x, lenInv ); + result->y = spu_mul( vec->y, lenInv ); + result->z = spu_mul( vec->z, lenInv ); + result->w = spu_mul( vec->w, lenInv ); +} + +static inline void vmathSoaV4Select( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1, vec_uint4 select1 ) +{ + result->x = spu_sel( vec0->x, vec1->x, select1 ); + result->y = spu_sel( vec0->y, vec1->y, select1 ); + result->z = spu_sel( vec0->z, vec1->z, select1 ); + result->w = spu_sel( vec0->w, vec1->w, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV4Print( const VmathSoaVector4 *vec ) +{ + VmathVector4 vec0, vec1, vec2, vec3; + vmathSoaV4Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV4Print( &vec0 ); + printf("slot 1:\n"); + vmathV4Print( &vec1 ); + printf("slot 2:\n"); + vmathV4Print( &vec2 ); + printf("slot 3:\n"); + vmathV4Print( &vec3 ); +} + +static inline void vmathSoaV4Prints( const VmathSoaVector4 *vec, const char *name ) +{ + VmathVector4 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaV4Get4Aos( vec, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathV4Print( &vec0 ); + printf("slot 1:\n"); + vmathV4Print( &vec1 ); + printf("slot 2:\n"); + vmathV4Print( &vec2 ); + printf("slot 3:\n"); + vmathV4Print( &vec3 ); +} + +#endif + +static inline void vmathSoaP3Copy( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = pnt->x; + result->y = pnt->y; + result->z = pnt->z; +} + +static inline void vmathSoaP3MakeFromElems( VmathSoaPoint3 *result, vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + result->x = _x; + result->y = _y; + result->z = _z; +} + +static inline void vmathSoaP3MakeFromV3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec ) +{ + result->x = vec->x; + result->y = vec->y; + result->z = vec->z; +} + +static inline void vmathSoaP3MakeFromScalar( VmathSoaPoint3 *result, vec_float4 scalar ) +{ + result->x = scalar; + result->y = scalar; + result->z = scalar; +} + +static inline void vmathSoaP3MakeFromAos( VmathSoaPoint3 *result, const VmathPoint3 *pnt ) +{ + 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_float4 vec128 = pnt->vec128; + result->x = spu_shuffle( vec128, vec128, shuffle_xxxx ); + result->y = spu_shuffle( vec128, vec128, shuffle_yyyy ); + result->z = spu_shuffle( vec128, vec128, shuffle_zzzz ); +} + +static inline void vmathSoaP3MakeFrom4Aos( VmathSoaPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( pnt0->vec128, pnt2->vec128, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( pnt1->vec128, pnt3->vec128, _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( pnt0->vec128, pnt2->vec128, _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( pnt1->vec128, pnt3->vec128, _VECTORMATH_SHUF_ZCWD ); + result->x = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + result->y = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + result->z = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); +} + +static inline void vmathSoaP3Lerp( VmathSoaPoint3 *result, vec_float4 t, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0, tmpV3_1; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + vmathSoaV3ScalarMul( &tmpV3_1, &tmpV3_0, t ); + vmathSoaP3AddV3( result, pnt0, &tmpV3_1 ); +} + +static inline void vmathSoaP3Get4Aos( const VmathSoaPoint3 *pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ) +{ + vec_float4 tmp0, tmp1; + tmp0 = spu_shuffle( pnt->x, pnt->z, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( pnt->x, pnt->z, _VECTORMATH_SHUF_ZCWD ); + vmathP3MakeFrom128( result0, spu_shuffle( tmp0, pnt->y, _VECTORMATH_SHUF_XAYB ) ); + vmathP3MakeFrom128( result1, spu_shuffle( tmp0, pnt->y, _VECTORMATH_SHUF_ZBW0 ) ); + vmathP3MakeFrom128( result2, spu_shuffle( tmp1, pnt->y, _VECTORMATH_SHUF_XCY0 ) ); + vmathP3MakeFrom128( result3, spu_shuffle( tmp1, pnt->y, _VECTORMATH_SHUF_ZDW0 ) ); +} + +static inline void vmathSoaP3LoadXYZArray( VmathSoaPoint3 *vec, const vec_float4 *threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_XYCD ); + zxzx = spu_shuffle( zxyz, xyzx, _VECTORMATH_SHUF_XYCD ); + yzyz = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_XYCD ); + vmathSoaP3SetX( vec, spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XDZB ) ); + vmathSoaP3SetY( vec, spu_shuffle( xyxy, yzyz, _VECTORMATH_SHUF_YAWC ) ); + vmathSoaP3SetZ( vec, spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_ZBXD ) ); +} + +static inline void vmathSoaP3StoreXYZArray( const VmathSoaPoint3 *vec, vec_float4 *threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = spu_shuffle( vec->x, vec->y, _VECTORMATH_SHUF_XAZC ); + zxzx = spu_shuffle( vec->z, vec->x, _VECTORMATH_SHUF_ZDXB ); + yzyz = spu_shuffle( vec->y, vec->z, _VECTORMATH_SHUF_YBWD ); + xyzx = spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XYCD ); + yzxy = spu_shuffle( yzyz, xyxy, _VECTORMATH_SHUF_XYCD ); + zxyz = spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_XYCD ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +static inline void vmathSoaP3StoreHalfFloats( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_ushort8 *threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + vmathSoaP3StoreXYZArray( pnt0, xyz0 ); + vmathSoaP3StoreXYZArray( pnt1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +static inline void vmathSoaP3SetX( VmathSoaPoint3 *result, vec_float4 _x ) +{ + result->x = _x; +} + +static inline vec_float4 vmathSoaP3GetX( const VmathSoaPoint3 *pnt ) +{ + return pnt->x; +} + +static inline void vmathSoaP3SetY( VmathSoaPoint3 *result, vec_float4 _y ) +{ + result->y = _y; +} + +static inline vec_float4 vmathSoaP3GetY( const VmathSoaPoint3 *pnt ) +{ + return pnt->y; +} + +static inline void vmathSoaP3SetZ( VmathSoaPoint3 *result, vec_float4 _z ) +{ + result->z = _z; +} + +static inline vec_float4 vmathSoaP3GetZ( const VmathSoaPoint3 *pnt ) +{ + return pnt->z; +} + +static inline void vmathSoaP3SetElem( VmathSoaPoint3 *result, int idx, vec_float4 value ) +{ + *(&result->x + idx) = value; +} + +static inline vec_float4 vmathSoaP3GetElem( const VmathSoaPoint3 *pnt, int idx ) +{ + return *(&pnt->x + idx); +} + +static inline void vmathSoaP3Sub( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = spu_sub( pnt0->x, pnt1->x ); + result->y = spu_sub( pnt0->y, pnt1->y ); + result->z = spu_sub( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3AddV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec1 ) +{ + result->x = spu_add( pnt->x, vec1->x ); + result->y = spu_add( pnt->y, vec1->y ); + result->z = spu_add( pnt->z, vec1->z ); +} + +static inline void vmathSoaP3SubV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec1 ) +{ + result->x = spu_sub( pnt->x, vec1->x ); + result->y = spu_sub( pnt->y, vec1->y ); + result->z = spu_sub( pnt->z, vec1->z ); +} + +static inline void vmathSoaP3MulPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = spu_mul( pnt0->x, pnt1->x ); + result->y = spu_mul( pnt0->y, pnt1->y ); + result->z = spu_mul( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3DivPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = divf4( pnt0->x, pnt1->x ); + result->y = divf4( pnt0->y, pnt1->y ); + result->z = divf4( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3RecipPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = recipf4( pnt->x ); + result->y = recipf4( pnt->y ); + result->z = recipf4( pnt->z ); +} + +static inline void vmathSoaP3SqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = sqrtf4( pnt->x ); + result->y = sqrtf4( pnt->y ); + result->z = sqrtf4( pnt->z ); +} + +static inline void vmathSoaP3RsqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = rsqrtf4( pnt->x ); + result->y = rsqrtf4( pnt->y ); + result->z = rsqrtf4( pnt->z ); +} + +static inline void vmathSoaP3AbsPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ) +{ + result->x = fabsf4( pnt->x ); + result->y = fabsf4( pnt->y ); + result->z = fabsf4( pnt->z ); +} + +static inline void vmathSoaP3CopySignPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = copysignf4( pnt0->x, pnt1->x ); + result->y = copysignf4( pnt0->y, pnt1->y ); + result->z = copysignf4( pnt0->z, pnt1->z ); +} + +static inline void vmathSoaP3MaxPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = fmaxf4( pnt0->x, pnt1->x ); + result->y = fmaxf4( pnt0->y, pnt1->y ); + result->z = fmaxf4( pnt0->z, pnt1->z ); +} + +static inline vec_float4 vmathSoaP3MaxElem( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = fmaxf4( pnt->x, pnt->y ); + result = fmaxf4( pnt->z, result ); + return result; +} + +static inline void vmathSoaP3MinPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + result->x = fminf4( pnt0->x, pnt1->x ); + result->y = fminf4( pnt0->y, pnt1->y ); + result->z = fminf4( pnt0->z, pnt1->z ); +} + +static inline vec_float4 vmathSoaP3MinElem( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = fminf4( pnt->x, pnt->y ); + result = fminf4( pnt->z, result ); + return result; +} + +static inline vec_float4 vmathSoaP3Sum( const VmathSoaPoint3 *pnt ) +{ + vec_float4 result; + result = spu_add( pnt->x, pnt->y ); + result = spu_add( result, pnt->z ); + return result; +} + +static inline void vmathSoaP3Scale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, vec_float4 scaleVal ) +{ + VmathSoaPoint3 tmpP3_0; + vmathSoaP3MakeFromScalar( &tmpP3_0, scaleVal ); + vmathSoaP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline void vmathSoaP3NonUniformScale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *scaleVec ) +{ + VmathSoaPoint3 tmpP3_0; + vmathSoaP3MakeFromV3( &tmpP3_0, scaleVec ); + vmathSoaP3MulPerElem( result, pnt, &tmpP3_0 ); +} + +static inline vec_float4 vmathSoaP3Projection( const VmathSoaPoint3 *pnt, const VmathSoaVector3 *unitVec ) +{ + vec_float4 result; + result = spu_mul( pnt->x, unitVec->x ); + result = spu_add( result, spu_mul( pnt->y, unitVec->y ) ); + result = spu_add( result, spu_mul( pnt->z, unitVec->z ) ); + return result; +} + +static inline vec_float4 vmathSoaP3DistSqrFromOrigin( const VmathSoaPoint3 *pnt ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3MakeFromP3( &tmpV3_0, pnt ); + return vmathSoaV3LengthSqr( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3DistFromOrigin( const VmathSoaPoint3 *pnt ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaV3MakeFromP3( &tmpV3_0, pnt ); + return vmathSoaV3Length( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3DistSqr( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathSoaV3LengthSqr( &tmpV3_0 ); +} + +static inline vec_float4 vmathSoaP3Dist( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ) +{ + VmathSoaVector3 tmpV3_0; + vmathSoaP3Sub( &tmpV3_0, pnt1, pnt0 ); + return vmathSoaV3Length( &tmpV3_0 ); +} + +static inline void vmathSoaP3Select( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_uint4 select1 ) +{ + result->x = spu_sel( pnt0->x, pnt1->x, select1 ); + result->y = spu_sel( pnt0->y, pnt1->y, select1 ); + result->z = spu_sel( pnt0->z, pnt1->z, select1 ); +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaP3Print( const VmathSoaPoint3 *pnt ) +{ + VmathPoint3 vec0, vec1, vec2, vec3; + vmathSoaP3Get4Aos( pnt, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathP3Print( &vec0 ); + printf("slot 1:\n"); + vmathP3Print( &vec1 ); + printf("slot 2:\n"); + vmathP3Print( &vec2 ); + printf("slot 3:\n"); + vmathP3Print( &vec3 ); +} + +static inline void vmathSoaP3Prints( const VmathSoaPoint3 *pnt, const char *name ) +{ + VmathPoint3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vmathSoaP3Get4Aos( pnt, &vec0, &vec1, &vec2, &vec3 ); + printf("slot 0:\n"); + vmathP3Print( &vec0 ); + printf("slot 1:\n"); + vmathP3Print( &vec1 ); + printf("slot 2:\n"); + vmathP3Print( &vec2 ); + printf("slot 3:\n"); + vmathP3Print( &vec3 ); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa_v.h new file mode 100644 index 000000000..560356a77 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vec_soa_v.h @@ -0,0 +1,962 @@ +/* + 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_VEC_SOA_V_C_H +#define _VECTORMATH_VEC_SOA_V_C_H +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*----------------------------------------------------------------------------- + * Constants + * for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + */ +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_ZDW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZDXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YAWC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SLERP_TOL 0.999f + +/*----------------------------------------------------------------------------- + * Definitions + */ +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +static inline VmathSoaVector3 vmathSoaV3MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromP3_V( VmathSoaPoint3 pnt ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFromAos_V( VmathVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFromAos(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeFrom4Aos_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3 ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeFrom4Aos(&result, &vec0, &vec1, &vec2, &vec3); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeXAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeXAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeYAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeYAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MakeZAxis_V( ) +{ + VmathSoaVector3 result; + vmathSoaV3MakeZAxis(&result); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Lerp_V( vec_float4 t, VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Slerp_V( vec_float4 t, VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathSoaV3Get4Aos_V( VmathSoaVector3 vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ) +{ + vmathSoaV3Get4Aos(&vec, result0, result1, result2, result3); +} + +static inline void vmathSoaV3LoadXYZArray_V( VmathSoaVector3 *vec, const vec_float4 *threeQuads ) +{ + vmathSoaV3LoadXYZArray(vec, threeQuads); +} + +static inline void vmathSoaV3StoreXYZArray_V( VmathSoaVector3 vec, vec_float4 *threeQuads ) +{ + vmathSoaV3StoreXYZArray(&vec, threeQuads); +} + +static inline void vmathSoaV3StoreHalfFloats_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_ushort8 *threeQuads ) +{ + vmathSoaV3StoreHalfFloats(&vec0, &vec1, threeQuads); +} + +static inline void vmathSoaV3SetX_V( VmathSoaVector3 *result, vec_float4 _x ) +{ + vmathSoaV3SetX(result, _x); +} + +static inline vec_float4 vmathSoaV3GetX_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetX(&vec); +} + +static inline void vmathSoaV3SetY_V( VmathSoaVector3 *result, vec_float4 _y ) +{ + vmathSoaV3SetY(result, _y); +} + +static inline vec_float4 vmathSoaV3GetY_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetY(&vec); +} + +static inline void vmathSoaV3SetZ_V( VmathSoaVector3 *result, vec_float4 _z ) +{ + vmathSoaV3SetZ(result, _z); +} + +static inline vec_float4 vmathSoaV3GetZ_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3GetZ(&vec); +} + +static inline void vmathSoaV3SetElem_V( VmathSoaVector3 *result, int idx, vec_float4 value ) +{ + vmathSoaV3SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaV3GetElem_V( VmathSoaVector3 vec, int idx ) +{ + return vmathSoaV3GetElem(&vec, idx); +} + +static inline VmathSoaVector3 vmathSoaV3Add_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Sub_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaV3AddP3_V( VmathSoaVector3 vec, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaV3AddP3(&result, &vec, &pnt1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3ScalarMul_V( VmathSoaVector3 vec, vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3ScalarDiv_V( VmathSoaVector3 vec, vec_float4 scalar ) +{ + VmathSoaVector3 result; + vmathSoaV3ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Neg_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3Neg(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MulPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3DivPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RecipPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3RecipPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3SqrtPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3RsqrtPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3AbsPerElem_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3AbsPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3CopySignPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3MaxPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV3MaxElem_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3MaxElem(&vec); +} + +static inline VmathSoaVector3 vmathSoaV3MinPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV3MinElem_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3MinElem(&vec); +} + +static inline vec_float4 vmathSoaV3Sum_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3Sum(&vec); +} + +static inline vec_float4 vmathSoaV3Dot_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + return vmathSoaV3Dot(&vec0, &vec1); +} + +static inline vec_float4 vmathSoaV3LengthSqr_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3LengthSqr(&vec); +} + +static inline vec_float4 vmathSoaV3Length_V( VmathSoaVector3 vec ) +{ + return vmathSoaV3Length(&vec); +} + +static inline VmathSoaVector3 vmathSoaV3Normalize_V( VmathSoaVector3 vec ) +{ + VmathSoaVector3 result; + vmathSoaV3Normalize(&result, &vec); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Cross_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Cross(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector3 vmathSoaV3Select_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_uint4 select1 ) +{ + VmathSoaVector3 result; + vmathSoaV3Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV3Print_V( VmathSoaVector3 vec ) +{ + vmathSoaV3Print(&vec); +} + +static inline void vmathSoaV3Prints_V( VmathSoaVector3 vec, const char *name ) +{ + vmathSoaV3Prints(&vec, name); +} + +#endif + +static inline VmathSoaVector4 vmathSoaV4MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromElems(&result, _x, _y, _z, _w); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 _w ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromV3Scalar(&result, &xyz, _w); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromV3_V( VmathSoaVector3 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromV3(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromP3_V( VmathSoaPoint3 pnt ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromP3(&result, &pnt); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromQ_V( VmathSoaQuat quat ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromQ(&result, &quat); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFromAos_V( VmathVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFromAos(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeFrom4Aos_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3 ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeFrom4Aos(&result, &vec0, &vec1, &vec2, &vec3); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeXAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeXAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeYAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeYAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeZAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeZAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MakeWAxis_V( ) +{ + VmathSoaVector4 result; + vmathSoaV4MakeWAxis(&result); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Lerp_V( vec_float4 t, VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Lerp(&result, t, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Slerp_V( vec_float4 t, VmathSoaVector4 unitVec0, VmathSoaVector4 unitVec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Slerp(&result, t, &unitVec0, &unitVec1); + return result; +} + +static inline void vmathSoaV4Get4Aos_V( VmathSoaVector4 vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ) +{ + vmathSoaV4Get4Aos(&vec, result0, result1, result2, result3); +} + +static inline void vmathSoaV4StoreHalfFloats_V( VmathSoaVector4 vec, vec_ushort8 *twoQuads ) +{ + vmathSoaV4StoreHalfFloats(&vec, twoQuads); +} + +static inline void vmathSoaV4SetXYZ_V( VmathSoaVector4 *result, VmathSoaVector3 vec ) +{ + vmathSoaV4SetXYZ(result, &vec); +} + +static inline VmathSoaVector3 vmathSoaV4GetXYZ_V( VmathSoaVector4 vec ) +{ + VmathSoaVector3 result; + vmathSoaV4GetXYZ(&result, &vec); + return result; +} + +static inline void vmathSoaV4SetX_V( VmathSoaVector4 *result, vec_float4 _x ) +{ + vmathSoaV4SetX(result, _x); +} + +static inline vec_float4 vmathSoaV4GetX_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetX(&vec); +} + +static inline void vmathSoaV4SetY_V( VmathSoaVector4 *result, vec_float4 _y ) +{ + vmathSoaV4SetY(result, _y); +} + +static inline vec_float4 vmathSoaV4GetY_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetY(&vec); +} + +static inline void vmathSoaV4SetZ_V( VmathSoaVector4 *result, vec_float4 _z ) +{ + vmathSoaV4SetZ(result, _z); +} + +static inline vec_float4 vmathSoaV4GetZ_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetZ(&vec); +} + +static inline void vmathSoaV4SetW_V( VmathSoaVector4 *result, vec_float4 _w ) +{ + vmathSoaV4SetW(result, _w); +} + +static inline vec_float4 vmathSoaV4GetW_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4GetW(&vec); +} + +static inline void vmathSoaV4SetElem_V( VmathSoaVector4 *result, int idx, vec_float4 value ) +{ + vmathSoaV4SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaV4GetElem_V( VmathSoaVector4 vec, int idx ) +{ + return vmathSoaV4GetElem(&vec, idx); +} + +static inline VmathSoaVector4 vmathSoaV4Add_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Add(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Sub_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Sub(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4ScalarMul_V( VmathSoaVector4 vec, vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4ScalarMul(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4ScalarDiv_V( VmathSoaVector4 vec, vec_float4 scalar ) +{ + VmathSoaVector4 result; + vmathSoaV4ScalarDiv(&result, &vec, scalar); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Neg_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4Neg(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MulPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MulPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4DivPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4DivPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4RecipPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4RecipPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4SqrtPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4SqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4RsqrtPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4RsqrtPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4AbsPerElem_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4AbsPerElem(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4CopySignPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4CopySignPerElem(&result, &vec0, &vec1); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4MaxPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MaxPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV4MaxElem_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4MaxElem(&vec); +} + +static inline VmathSoaVector4 vmathSoaV4MinPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + VmathSoaVector4 result; + vmathSoaV4MinPerElem(&result, &vec0, &vec1); + return result; +} + +static inline vec_float4 vmathSoaV4MinElem_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4MinElem(&vec); +} + +static inline vec_float4 vmathSoaV4Sum_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4Sum(&vec); +} + +static inline vec_float4 vmathSoaV4Dot_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ) +{ + return vmathSoaV4Dot(&vec0, &vec1); +} + +static inline vec_float4 vmathSoaV4LengthSqr_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4LengthSqr(&vec); +} + +static inline vec_float4 vmathSoaV4Length_V( VmathSoaVector4 vec ) +{ + return vmathSoaV4Length(&vec); +} + +static inline VmathSoaVector4 vmathSoaV4Normalize_V( VmathSoaVector4 vec ) +{ + VmathSoaVector4 result; + vmathSoaV4Normalize(&result, &vec); + return result; +} + +static inline VmathSoaVector4 vmathSoaV4Select_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1, vec_uint4 select1 ) +{ + VmathSoaVector4 result; + vmathSoaV4Select(&result, &vec0, &vec1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaV4Print_V( VmathSoaVector4 vec ) +{ + vmathSoaV4Print(&vec); +} + +static inline void vmathSoaV4Prints_V( VmathSoaVector4 vec, const char *name ) +{ + vmathSoaV4Prints(&vec, name); +} + +#endif + +static inline VmathSoaPoint3 vmathSoaP3MakeFromElems_V( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromElems(&result, _x, _y, _z); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromV3_V( VmathSoaVector3 vec ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromV3(&result, &vec); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromScalar_V( vec_float4 scalar ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromScalar(&result, scalar); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFromAos_V( VmathPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFromAos(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MakeFrom4Aos_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MakeFrom4Aos(&result, &pnt0, &pnt1, &pnt2, &pnt3); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3Lerp_V( vec_float4 t, VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3Lerp(&result, t, &pnt0, &pnt1); + return result; +} + +static inline void vmathSoaP3Get4Aos_V( VmathSoaPoint3 pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ) +{ + vmathSoaP3Get4Aos(&pnt, result0, result1, result2, result3); +} + +static inline void vmathSoaP3LoadXYZArray_V( VmathSoaPoint3 *vec, const vec_float4 *threeQuads ) +{ + vmathSoaP3LoadXYZArray(vec, threeQuads); +} + +static inline void vmathSoaP3StoreXYZArray_V( VmathSoaPoint3 vec, vec_float4 *threeQuads ) +{ + vmathSoaP3StoreXYZArray(&vec, threeQuads); +} + +static inline void vmathSoaP3StoreHalfFloats_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_ushort8 *threeQuads ) +{ + vmathSoaP3StoreHalfFloats(&pnt0, &pnt1, threeQuads); +} + +static inline void vmathSoaP3SetX_V( VmathSoaPoint3 *result, vec_float4 _x ) +{ + vmathSoaP3SetX(result, _x); +} + +static inline vec_float4 vmathSoaP3GetX_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetX(&pnt); +} + +static inline void vmathSoaP3SetY_V( VmathSoaPoint3 *result, vec_float4 _y ) +{ + vmathSoaP3SetY(result, _y); +} + +static inline vec_float4 vmathSoaP3GetY_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetY(&pnt); +} + +static inline void vmathSoaP3SetZ_V( VmathSoaPoint3 *result, vec_float4 _z ) +{ + vmathSoaP3SetZ(result, _z); +} + +static inline vec_float4 vmathSoaP3GetZ_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3GetZ(&pnt); +} + +static inline void vmathSoaP3SetElem_V( VmathSoaPoint3 *result, int idx, vec_float4 value ) +{ + vmathSoaP3SetElem(result, idx, value); +} + +static inline vec_float4 vmathSoaP3GetElem_V( VmathSoaPoint3 pnt, int idx ) +{ + return vmathSoaP3GetElem(&pnt, idx); +} + +static inline VmathSoaVector3 vmathSoaP3Sub_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaVector3 result; + vmathSoaP3Sub(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3AddV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3AddV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3SubV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3SubV3(&result, &pnt, &vec1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MulPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MulPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3DivPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3DivPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3RecipPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3RecipPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3SqrtPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3SqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3RsqrtPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3RsqrtPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3AbsPerElem_V( VmathSoaPoint3 pnt ) +{ + VmathSoaPoint3 result; + vmathSoaP3AbsPerElem(&result, &pnt); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3CopySignPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3CopySignPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3MaxPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MaxPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathSoaP3MaxElem_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3MaxElem(&pnt); +} + +static inline VmathSoaPoint3 vmathSoaP3MinPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3MinPerElem(&result, &pnt0, &pnt1); + return result; +} + +static inline vec_float4 vmathSoaP3MinElem_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3MinElem(&pnt); +} + +static inline vec_float4 vmathSoaP3Sum_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3Sum(&pnt); +} + +static inline VmathSoaPoint3 vmathSoaP3Scale_V( VmathSoaPoint3 pnt, vec_float4 scaleVal ) +{ + VmathSoaPoint3 result; + vmathSoaP3Scale(&result, &pnt, scaleVal); + return result; +} + +static inline VmathSoaPoint3 vmathSoaP3NonUniformScale_V( VmathSoaPoint3 pnt, VmathSoaVector3 scaleVec ) +{ + VmathSoaPoint3 result; + vmathSoaP3NonUniformScale(&result, &pnt, &scaleVec); + return result; +} + +static inline vec_float4 vmathSoaP3Projection_V( VmathSoaPoint3 pnt, VmathSoaVector3 unitVec ) +{ + return vmathSoaP3Projection(&pnt, &unitVec); +} + +static inline vec_float4 vmathSoaP3DistSqrFromOrigin_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3DistSqrFromOrigin(&pnt); +} + +static inline vec_float4 vmathSoaP3DistFromOrigin_V( VmathSoaPoint3 pnt ) +{ + return vmathSoaP3DistFromOrigin(&pnt); +} + +static inline vec_float4 vmathSoaP3DistSqr_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + return vmathSoaP3DistSqr(&pnt0, &pnt1); +} + +static inline vec_float4 vmathSoaP3Dist_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ) +{ + return vmathSoaP3Dist(&pnt0, &pnt1); +} + +static inline VmathSoaPoint3 vmathSoaP3Select_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_uint4 select1 ) +{ + VmathSoaPoint3 result; + vmathSoaP3Select(&result, &pnt0, &pnt1, select1); + return result; +} + +#ifdef _VECTORMATH_DEBUG + +static inline void vmathSoaP3Print_V( VmathSoaPoint3 pnt ) +{ + vmathSoaP3Print(&pnt); +} + +static inline void vmathSoaP3Prints_V( VmathSoaPoint3 pnt, const char *name ) +{ + vmathSoaP3Prints(&pnt, name); +} + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos.h new file mode 100644 index 000000000..12ee919da --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos.h @@ -0,0 +1,1952 @@ +/* + 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_AOS_C_H +#define _VECTORMATH_AOS_C_H + +#include +#include "spu2vmx.h" +#include "simdmath.h" +#include "stdio.h" + +#ifdef _VECTORMATH_DEBUG +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + vec_float4 vec128; +} VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + vec_float4 vec128; +} VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + vec_float4 vec128; +} VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + vec_float4 vec128; +} VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Copy a 3-D vector + */ +static inline void vmathV3Copy( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline void vmathV3MakeFromElems( VmathVector3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline void vmathV3MakeFromP3( VmathVector3 *result, const VmathPoint3 *pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline void vmathV3MakeFromScalar( VmathVector3 *result, float scalar ); + +/* + * Set vector float data in a 3-D vector + */ +static inline void vmathV3MakeFrom128( VmathVector3 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D vector + */ +static inline vec_float4 vmathV3Get128( const VmathVector3 *vec ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX( const VmathVector3 *vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY( const VmathVector3 *vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ( const VmathVector3 *vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem( const VmathVector3 *vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline void vmathV3Add( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline void vmathV3Sub( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline void vmathV3AddP3( VmathPoint3 *result, const VmathVector3 *vec, const VmathPoint3 *pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline void vmathV3ScalarMul( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline void vmathV3ScalarDiv( VmathVector3 *result, const VmathVector3 *vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline void vmathV3Neg( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV3MakeXAxis( VmathVector3 *result ); + +/* + * Construct y axis + */ +static inline void vmathV3MakeYAxis( VmathVector3 *result ); + +/* + * Construct z axis + */ +static inline void vmathV3MakeZAxis( VmathVector3 *result ); + +/* + * Multiply two 3-D vectors per element + */ +static inline void vmathV3MulPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV3DivPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV3RecipPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV3SqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV3RsqrtPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline void vmathV3AbsPerElem( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline void vmathV3CopySignPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline void vmathV3MaxPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline void vmathV3MinPerElem( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem( const VmathVector3 *vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem( const VmathVector3 *vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum( const VmathVector3 *vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot( const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr( const VmathVector3 *vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length( const VmathVector3 *vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV3Normalize( VmathVector3 *result, const VmathVector3 *vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline void vmathV3Cross( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline void vmathV3Outer( VmathMatrix3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + * NOTE: + * Slower than column post-multiply. + */ +static inline void vmathV3RowMul( VmathVector3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline void vmathV3CrossMatrix( VmathMatrix3 *result, const VmathVector3 *vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline void vmathV3CrossMatrixMul( VmathMatrix3 *result, const VmathVector3 *vec, const VmathMatrix3 *mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Lerp( VmathVector3 *result, float t, const VmathVector3 *vec0, const VmathVector3 *vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV3Slerp( VmathVector3 *result, float t, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathV3Select( VmathVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D vector in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathV3StoreXYZ( const VmathVector3 *vec, vec_float4 *quad ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathV3LoadXYZArray( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D vectors in three quadwords + */ +static inline void vmathV3StoreXYZArray( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D vectors as half-floats + */ +static inline void vmathV3StoreHalfFloats( const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3, const VmathVector3 *vec4, const VmathVector3 *vec5, const VmathVector3 *vec6, const VmathVector3 *vec7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print( const VmathVector3 *vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints( const VmathVector3 *vec, const char *name ); + +#endif + +/* + * Copy a 4-D vector + */ +static inline void vmathV4Copy( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline void vmathV4MakeFromElems( VmathVector4 *result, float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline void vmathV4MakeFromV3Scalar( VmathVector4 *result, const VmathVector3 *xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline void vmathV4MakeFromV3( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline void vmathV4MakeFromP3( VmathVector4 *result, const VmathPoint3 *pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline void vmathV4MakeFromQ( VmathVector4 *result, const VmathQuat *quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline void vmathV4MakeFromScalar( VmathVector4 *result, float scalar ); + +/* + * Set vector float data in a 4-D vector + */ +static inline void vmathV4MakeFrom128( VmathVector4 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 4-D vector + */ +static inline vec_float4 vmathV4Get128( const VmathVector4 *vec ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ( VmathVector4 *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline void vmathV4GetXYZ( VmathVector3 *result, const VmathVector4 *vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX( const VmathVector4 *vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY( const VmathVector4 *vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ( const VmathVector4 *vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW( const VmathVector4 *vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem( const VmathVector4 *vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline void vmathV4Add( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline void vmathV4Sub( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline void vmathV4ScalarMul( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline void vmathV4ScalarDiv( VmathVector4 *result, const VmathVector4 *vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline void vmathV4Neg( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Construct x axis + */ +static inline void vmathV4MakeXAxis( VmathVector4 *result ); + +/* + * Construct y axis + */ +static inline void vmathV4MakeYAxis( VmathVector4 *result ); + +/* + * Construct z axis + */ +static inline void vmathV4MakeZAxis( VmathVector4 *result ); + +/* + * Construct w axis + */ +static inline void vmathV4MakeWAxis( VmathVector4 *result ); + +/* + * Multiply two 4-D vectors per element + */ +static inline void vmathV4MulPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathV4DivPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathV4RecipPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathV4SqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathV4RsqrtPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline void vmathV4AbsPerElem( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline void vmathV4CopySignPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline void vmathV4MaxPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline void vmathV4MinPerElem( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem( const VmathVector4 *vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem( const VmathVector4 *vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum( const VmathVector4 *vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot( const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr( const VmathVector4 *vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length( const VmathVector4 *vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathV4Normalize( VmathVector4 *result, const VmathVector4 *vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline void vmathV4Outer( VmathMatrix4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Lerp( VmathVector4 *result, float t, const VmathVector4 *vec0, const VmathVector4 *vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathV4Slerp( VmathVector4 *result, float t, const VmathVector4 *unitVec0, const VmathVector4 *unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathV4Select( VmathVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, unsigned int select1 ); + +/* + * Store four 4-D vectors as half-floats + */ +static inline void vmathV4StoreHalfFloats( const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print( const VmathVector4 *vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints( const VmathVector4 *vec, const char *name ); + +#endif + +/* + * Copy a 3-D point + */ +static inline void vmathP3Copy( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline void vmathP3MakeFromElems( VmathPoint3 *result, float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline void vmathP3MakeFromV3( VmathPoint3 *result, const VmathVector3 *vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline void vmathP3MakeFromScalar( VmathPoint3 *result, float scalar ); + +/* + * Set vector float data in a 3-D point + */ +static inline void vmathP3MakeFrom128( VmathPoint3 *result, vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D point + */ +static inline vec_float4 vmathP3Get128( const VmathPoint3 *pnt ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX( const VmathPoint3 *pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY( const VmathPoint3 *pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ( const VmathPoint3 *pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem( const VmathPoint3 *pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline void vmathP3Sub( VmathVector3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline void vmathP3AddV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline void vmathP3SubV3( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *vec ); + +/* + * Multiply two 3-D points per element + */ +static inline void vmathP3MulPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathP3DivPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathP3RecipPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathP3SqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathP3RsqrtPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline void vmathP3AbsPerElem( VmathPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline void vmathP3CopySignPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline void vmathP3MaxPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline void vmathP3MinPerElem( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem( const VmathPoint3 *pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem( const VmathPoint3 *pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum( const VmathPoint3 *pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline void vmathP3Scale( VmathPoint3 *result, const VmathPoint3 *pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline void vmathP3NonUniformScale( VmathPoint3 *result, const VmathPoint3 *pnt, const VmathVector3 *scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection( const VmathPoint3 *pnt, const VmathVector3 *unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin( const VmathPoint3 *pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathP3Lerp( VmathPoint3 *result, float t, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathP3Select( VmathPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D point in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathP3StoreXYZ( const VmathPoint3 *pnt, vec_float4 *quad ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathP3LoadXYZArray( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D points in three quadwords + */ +static inline void vmathP3StoreXYZArray( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D points as half-floats + */ +static inline void vmathP3StoreHalfFloats( const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3, const VmathPoint3 *pnt4, const VmathPoint3 *pnt5, const VmathPoint3 *pnt6, const VmathPoint3 *pnt7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print( const VmathPoint3 *pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints( const VmathPoint3 *pnt, const char *name ); + +#endif + +/* + * Copy a quaternion + */ +static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline void vmathQMakeFromElems( VmathQuat *result, float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline void vmathQMakeFromM3( VmathQuat *result, const VmathMatrix3 *rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar ); + +/* + * Set vector float data in a quaternion + */ +static inline void vmathQMakeFrom128( VmathQuat *result, vec_float4 vf4 ); + +/* + * Get vector float data from a quaternion + */ +static inline vec_float4 vmathQGet128( const VmathQuat *quat ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX( const VmathQuat *quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY( const VmathQuat *quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ( const VmathQuat *quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW( const VmathQuat *quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem( const VmathQuat *quat, int idx ); + +/* + * Add two quaternions + */ +static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply two quaternions + */ +static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat ); + +/* + * Construct an identity quaternion + */ +static inline void vmathQMakeIdentity( VmathQuat *result ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline void vmathQMakeRotationX( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline void vmathQMakeRotationY( VmathQuat *result, float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline void vmathQMakeRotationZ( VmathQuat *result, float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *unitQuat, const VmathVector3 *vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm( const VmathQuat *quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength( const VmathQuat *quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint( const VmathQuat *quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints( const VmathQuat *quat, const char *name ); + +#endif + +/* + * Copy a 3x3 matrix + */ +static inline void vmathM3Copy( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline void vmathM3MakeFromCols( VmathMatrix3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeFromQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline void vmathM3MakeFromScalar( VmathMatrix3 *result, float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0( VmathMatrix3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1( VmathMatrix3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2( VmathMatrix3 *result, const VmathVector3 *col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline void vmathM3GetCol0( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline void vmathM3GetCol1( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline void vmathM3GetCol2( VmathVector3 *result, const VmathMatrix3 *mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol( VmathMatrix3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow( VmathMatrix3 *result, int row, const VmathVector3 *vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetCol( VmathVector3 *result, const VmathMatrix3 *mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3GetRow( VmathVector3 *result, const VmathMatrix3 *mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem( const VmathMatrix3 *mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline void vmathM3Add( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline void vmathM3Sub( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline void vmathM3Neg( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline void vmathM3ScalarMul( VmathMatrix3 *result, const VmathMatrix3 *mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline void vmathM3MulV3( VmathVector3 *result, const VmathMatrix3 *mat, const VmathVector3 *vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline void vmathM3Mul( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline void vmathM3MakeIdentity( VmathMatrix3 *result ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline void vmathM3MakeRotationX( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline void vmathM3MakeRotationY( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline void vmathM3MakeRotationZ( VmathMatrix3 *result, float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM3MakeRotationZYX( VmathMatrix3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM3MakeRotationAxis( VmathMatrix3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM3MakeRotationQ( VmathMatrix3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline void vmathM3MakeScale( VmathMatrix3 *result, const VmathVector3 *scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3AppendScale( VmathMatrix3 *result, const VmathMatrix3 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM3PrependScale( VmathMatrix3 *result, const VmathVector3 *scaleVec, const VmathMatrix3 *mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline void vmathM3MulPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline void vmathM3AbsPerElem( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline void vmathM3Transpose( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM3Inverse( VmathMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant( const VmathMatrix3 *mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathM3Select( VmathMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print( const VmathMatrix3 *mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints( const VmathMatrix3 *mat, const char *name ); + +#endif + +/* + * Copy a 4x4 matrix + */ +static inline void vmathM4Copy( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline void vmathM4MakeFromCols( VmathMatrix4 *result, const VmathVector4 *col0, const VmathVector4 *col1, const VmathVector4 *col2, const VmathVector4 *col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline void vmathM4MakeFromT3( VmathMatrix4 *result, const VmathTransform3 *mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathM4MakeFromM3V3( VmathMatrix4 *result, const VmathMatrix3 *mat, const VmathVector3 *translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathM4MakeFromQV3( VmathMatrix4 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline void vmathM4MakeFromScalar( VmathMatrix4 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3( VmathMatrix4 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline void vmathM4GetUpper3x3( VmathMatrix3 *result, const VmathMatrix4 *mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline void vmathM4GetTranslation( VmathVector3 *result, const VmathMatrix4 *mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0( VmathMatrix4 *result, const VmathVector4 *col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1( VmathMatrix4 *result, const VmathVector4 *col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2( VmathMatrix4 *result, const VmathVector4 *col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3( VmathMatrix4 *result, const VmathVector4 *col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline void vmathM4GetCol0( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline void vmathM4GetCol1( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline void vmathM4GetCol2( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline void vmathM4GetCol3( VmathVector4 *result, const VmathMatrix4 *mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol( VmathMatrix4 *result, int col, const VmathVector4 *vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow( VmathMatrix4 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetCol( VmathVector4 *result, const VmathMatrix4 *mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4GetRow( VmathVector4 *result, const VmathMatrix4 *mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem( const VmathMatrix4 *mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline void vmathM4Add( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline void vmathM4Sub( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline void vmathM4Neg( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline void vmathM4ScalarMul( VmathMatrix4 *result, const VmathMatrix4 *mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline void vmathM4MulV4( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector4 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline void vmathM4MulV3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathVector3 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline void vmathM4MulP3( VmathVector4 *result, const VmathMatrix4 *mat, const VmathPoint3 *pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline void vmathM4Mul( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline void vmathM4MulT3( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathTransform3 *tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline void vmathM4MakeIdentity( VmathMatrix4 *result ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline void vmathM4MakeRotationX( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline void vmathM4MakeRotationY( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline void vmathM4MakeRotationZ( VmathMatrix4 *result, float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline void vmathM4MakeRotationZYX( VmathMatrix4 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathM4MakeRotationAxis( VmathMatrix4 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathM4MakeRotationQ( VmathMatrix4 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline void vmathM4MakeScale( VmathMatrix4 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline void vmathM4MakeTranslation( VmathMatrix4 *result, const VmathVector3 *translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline void vmathM4MakeLookAt( VmathMatrix4 *result, const VmathPoint3 *eyePos, const VmathPoint3 *lookAtPos, const VmathVector3 *upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline void vmathM4MakePerspective( VmathMatrix4 *result, float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline void vmathM4MakeFrustum( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline void vmathM4MakeOrthographic( VmathMatrix4 *result, float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4AppendScale( VmathMatrix4 *result, const VmathMatrix4 *mat, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathM4PrependScale( VmathMatrix4 *result, const VmathVector3 *scaleVec, const VmathMatrix4 *mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline void vmathM4MulPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline void vmathM4AbsPerElem( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline void vmathM4Transpose( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4Inverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathM4AffineInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline void vmathM4OrthoInverse( VmathMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant( const VmathMatrix4 *mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathM4Select( VmathMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print( const VmathMatrix4 *mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints( const VmathMatrix4 *mat, const char *name ); + +#endif + +/* + * Copy a 3x4 transformation matrix + */ +static inline void vmathT3Copy( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline void vmathT3MakeFromCols( VmathTransform3 *result, const VmathVector3 *col0, const VmathVector3 *col1, const VmathVector3 *col2, const VmathVector3 *col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathT3MakeFromM3V3( VmathTransform3 *result, const VmathMatrix3 *tfrm, const VmathVector3 *translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathT3MakeFromQV3( VmathTransform3 *result, const VmathQuat *unitQuat, const VmathVector3 *translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline void vmathT3MakeFromScalar( VmathTransform3 *result, float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3( VmathTransform3 *result, const VmathMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline void vmathT3GetUpper3x3( VmathMatrix3 *result, const VmathTransform3 *tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline void vmathT3GetTranslation( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0( VmathTransform3 *result, const VmathVector3 *col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1( VmathTransform3 *result, const VmathVector3 *col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2( VmathTransform3 *result, const VmathVector3 *col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3( VmathTransform3 *result, const VmathVector3 *col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol0( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol1( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol2( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3GetCol3( VmathVector3 *result, const VmathTransform3 *tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol( VmathTransform3 *result, int col, const VmathVector3 *vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow( VmathTransform3 *result, int row, const VmathVector4 *vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetCol( VmathVector3 *result, const VmathTransform3 *tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3GetRow( VmathVector4 *result, const VmathTransform3 *tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem( const VmathTransform3 *tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline void vmathT3MulV3( VmathVector3 *result, const VmathTransform3 *tfrm, const VmathVector3 *vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline void vmathT3MulP3( VmathPoint3 *result, const VmathTransform3 *tfrm, const VmathPoint3 *pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline void vmathT3Mul( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline void vmathT3MakeIdentity( VmathTransform3 *result ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline void vmathT3MakeRotationX( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline void vmathT3MakeRotationY( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline void vmathT3MakeRotationZ( VmathTransform3 *result, float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline void vmathT3MakeRotationZYX( VmathTransform3 *result, const VmathVector3 *radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathT3MakeRotationAxis( VmathTransform3 *result, float radians, const VmathVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathT3MakeRotationQ( VmathTransform3 *result, const VmathQuat *unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline void vmathT3MakeScale( VmathTransform3 *result, const VmathVector3 *scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline void vmathT3MakeTranslation( VmathTransform3 *result, const VmathVector3 *translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3AppendScale( VmathTransform3 *result, const VmathTransform3 *tfrm, const VmathVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathT3PrependScale( VmathTransform3 *result, const VmathVector3 *scaleVec, const VmathTransform3 *tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline void vmathT3MulPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline void vmathT3AbsPerElem( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline void vmathT3Inverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline void vmathT3OrthoInverse( VmathTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathT3Select( VmathTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print( const VmathTransform3 *tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints( const VmathTransform3 *tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos_v.h new file mode 100644 index 000000000..eb6912557 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos_v.h @@ -0,0 +1,1916 @@ +/* + 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_AOS_C_V_H +#define _VECTORMATH_AOS_C_V_H + +#include +#include + +#ifdef _VECTORMATH_DEBUG +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_AOS_C_TYPES_H +#define _VECTORMATH_AOS_C_TYPES_H + +/* A 3-D vector in array-of-structures format + */ +typedef struct _VmathVector3 +{ + vec_float4 vec128; +} VmathVector3; + +/* A 4-D vector in array-of-structures format + */ +typedef struct _VmathVector4 +{ + vec_float4 vec128; +} VmathVector4; + +/* A 3-D point in array-of-structures format + */ +typedef struct _VmathPoint3 +{ + vec_float4 vec128; +} VmathPoint3; + +/* A quaternion in array-of-structures format + */ +typedef struct _VmathQuat +{ + vec_float4 vec128; +} VmathQuat; + +/* A 3x3 matrix in array-of-structures format + */ +typedef struct _VmathMatrix3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; +} VmathMatrix3; + +/* A 4x4 matrix in array-of-structures format + */ +typedef struct _VmathMatrix4 +{ + VmathVector4 col0; + VmathVector4 col1; + VmathVector4 col2; + VmathVector4 col3; +} VmathMatrix4; + +/* A 3x4 transformation matrix in array-of-structures format + */ +typedef struct _VmathTransform3 +{ + VmathVector3 col0; + VmathVector3 col1; + VmathVector3 col2; + VmathVector3 col3; +} VmathTransform3; + +#endif + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline VmathVector3 vmathV3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline VmathVector3 vmathV3MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline VmathVector3 vmathV3MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 3-D vector + */ +static inline VmathVector3 vmathV3MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D vector + */ +static inline vec_float4 vmathV3Get128_V( VmathVector3 vec ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathV3SetX_V( VmathVector3 *result, float x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathV3SetY_V( VmathVector3 *result, float y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathV3SetZ_V( VmathVector3 *result, float z ); + +/* + * Get the x element of a 3-D vector + */ +static inline float vmathV3GetX_V( VmathVector3 vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline float vmathV3GetY_V( VmathVector3 vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline float vmathV3GetZ_V( VmathVector3 vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathV3SetElem_V( VmathVector3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline float vmathV3GetElem_V( VmathVector3 vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline VmathVector3 vmathV3Add_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline VmathVector3 vmathV3Sub_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline VmathPoint3 vmathV3AddP3_V( VmathVector3 vec, VmathPoint3 pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarMul_V( VmathVector3 vec, float scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline VmathVector3 vmathV3ScalarDiv_V( VmathVector3 vec, float scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline VmathVector3 vmathV3Neg_V( VmathVector3 vec ); + +/* + * Construct x axis + */ +static inline VmathVector3 vmathV3MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector3 vmathV3MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector3 vmathV3MakeZAxis_V( ); + +/* + * Multiply two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MulPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector3 vmathV3DivPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector3 vmathV3RecipPerElem_V( VmathVector3 vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector3 vmathV3SqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector3 vmathV3RsqrtPerElem_V( VmathVector3 vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline VmathVector3 vmathV3AbsPerElem_V( VmathVector3 vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline VmathVector3 vmathV3CopySignPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MaxPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline VmathVector3 vmathV3MinPerElem_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline float vmathV3MaxElem_V( VmathVector3 vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline float vmathV3MinElem_V( VmathVector3 vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline float vmathV3Sum_V( VmathVector3 vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline float vmathV3Dot_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline float vmathV3LengthSqr_V( VmathVector3 vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline float vmathV3Length_V( VmathVector3 vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector3 vmathV3Normalize_V( VmathVector3 vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline VmathVector3 vmathV3Cross_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline VmathMatrix3 vmathV3Outer_V( VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + * NOTE: + * Slower than column post-multiply. + */ +static inline VmathVector3 vmathV3RowMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline VmathMatrix3 vmathV3CrossMatrix_V( VmathVector3 vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline VmathMatrix3 vmathV3CrossMatrixMul_V( VmathVector3 vec, VmathMatrix3 mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Lerp_V( float t, VmathVector3 vec0, VmathVector3 vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector3 vmathV3Slerp_V( float t, VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathVector3 vmathV3Select_V( VmathVector3 vec0, VmathVector3 vec1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D vector in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathV3StoreXYZ_V( VmathVector3 vec, vec_float4 *quad ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathV3LoadXYZArray_V( VmathVector3 *vec0, VmathVector3 *vec1, VmathVector3 *vec2, VmathVector3 *vec3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D vectors in three quadwords + */ +static inline void vmathV3StoreXYZArray_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D vectors as half-floats + */ +static inline void vmathV3StoreHalfFloats_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3, VmathVector3 vec4, VmathVector3 vec5, VmathVector3 vec6, VmathVector3 vec7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Print_V( VmathVector3 vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV3Prints_V( VmathVector3 vec, const char *name ); + +#endif + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline VmathVector4 vmathV4MakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline VmathVector4 vmathV4MakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline VmathVector4 vmathV4MakeFromV3_V( VmathVector3 vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline VmathVector4 vmathV4MakeFromP3_V( VmathPoint3 pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline VmathVector4 vmathV4MakeFromQ_V( VmathQuat quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline VmathVector4 vmathV4MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 4-D vector + */ +static inline VmathVector4 vmathV4MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 4-D vector + */ +static inline vec_float4 vmathV4Get128_V( VmathVector4 vec ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathV4SetXYZ_V( VmathVector4 *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline VmathVector3 vmathV4GetXYZ_V( VmathVector4 vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathV4SetX_V( VmathVector4 *result, float x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathV4SetY_V( VmathVector4 *result, float y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathV4SetZ_V( VmathVector4 *result, float z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathV4SetW_V( VmathVector4 *result, float w ); + +/* + * Get the x element of a 4-D vector + */ +static inline float vmathV4GetX_V( VmathVector4 vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline float vmathV4GetY_V( VmathVector4 vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline float vmathV4GetZ_V( VmathVector4 vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline float vmathV4GetW_V( VmathVector4 vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathV4SetElem_V( VmathVector4 *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline float vmathV4GetElem_V( VmathVector4 vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline VmathVector4 vmathV4Add_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline VmathVector4 vmathV4Sub_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarMul_V( VmathVector4 vec, float scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline VmathVector4 vmathV4ScalarDiv_V( VmathVector4 vec, float scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline VmathVector4 vmathV4Neg_V( VmathVector4 vec ); + +/* + * Construct x axis + */ +static inline VmathVector4 vmathV4MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathVector4 vmathV4MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathVector4 vmathV4MakeZAxis_V( ); + +/* + * Construct w axis + */ +static inline VmathVector4 vmathV4MakeWAxis_V( ); + +/* + * Multiply two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MulPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathVector4 vmathV4DivPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathVector4 vmathV4RecipPerElem_V( VmathVector4 vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathVector4 vmathV4SqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathVector4 vmathV4RsqrtPerElem_V( VmathVector4 vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline VmathVector4 vmathV4AbsPerElem_V( VmathVector4 vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline VmathVector4 vmathV4CopySignPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MaxPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline VmathVector4 vmathV4MinPerElem_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline float vmathV4MaxElem_V( VmathVector4 vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline float vmathV4MinElem_V( VmathVector4 vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline float vmathV4Sum_V( VmathVector4 vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline float vmathV4Dot_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline float vmathV4LengthSqr_V( VmathVector4 vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline float vmathV4Length_V( VmathVector4 vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathVector4 vmathV4Normalize_V( VmathVector4 vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline VmathMatrix4 vmathV4Outer_V( VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Lerp_V( float t, VmathVector4 vec0, VmathVector4 vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathVector4 vmathV4Slerp_V( float t, VmathVector4 unitVec0, VmathVector4 unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathVector4 vmathV4Select_V( VmathVector4 vec0, VmathVector4 vec1, unsigned int select1 ); + +/* + * Store four 4-D vectors as half-floats + */ +static inline void vmathV4StoreHalfFloats_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Print_V( VmathVector4 vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathV4Prints_V( VmathVector4 vec, const char *name ); + +#endif + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline VmathPoint3 vmathP3MakeFromElems_V( float x, float y, float z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline VmathPoint3 vmathP3MakeFromV3_V( VmathVector3 vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline VmathPoint3 vmathP3MakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a 3-D point + */ +static inline VmathPoint3 vmathP3MakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a 3-D point + */ +static inline vec_float4 vmathP3Get128_V( VmathPoint3 pnt ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathP3SetX_V( VmathPoint3 *result, float x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathP3SetY_V( VmathPoint3 *result, float y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathP3SetZ_V( VmathPoint3 *result, float z ); + +/* + * Get the x element of a 3-D point + */ +static inline float vmathP3GetX_V( VmathPoint3 pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline float vmathP3GetY_V( VmathPoint3 pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline float vmathP3GetZ_V( VmathPoint3 pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathP3SetElem_V( VmathPoint3 *result, int idx, float value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline float vmathP3GetElem_V( VmathPoint3 pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline VmathVector3 vmathP3Sub_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline VmathPoint3 vmathP3AddV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline VmathPoint3 vmathP3SubV3_V( VmathPoint3 pnt, VmathVector3 vec ); + +/* + * Multiply two 3-D points per element + */ +static inline VmathPoint3 vmathP3MulPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathPoint3 vmathP3DivPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathPoint3 vmathP3RecipPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathPoint3 vmathP3SqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathPoint3 vmathP3RsqrtPerElem_V( VmathPoint3 pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline VmathPoint3 vmathP3AbsPerElem_V( VmathPoint3 pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline VmathPoint3 vmathP3CopySignPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MaxPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline VmathPoint3 vmathP3MinPerElem_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline float vmathP3MaxElem_V( VmathPoint3 pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline float vmathP3MinElem_V( VmathPoint3 pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline float vmathP3Sum_V( VmathPoint3 pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3Scale_V( VmathPoint3 pnt, float scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline VmathPoint3 vmathP3NonUniformScale_V( VmathPoint3 pnt, VmathVector3 scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline float vmathP3Projection_V( VmathPoint3 pnt, VmathVector3 unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistSqrFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline float vmathP3DistFromOrigin_V( VmathPoint3 pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline float vmathP3DistSqr_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline float vmathP3Dist_V( VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathPoint3 vmathP3Lerp_V( float t, VmathPoint3 pnt0, VmathPoint3 pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathPoint3 vmathP3Select_V( VmathPoint3 pnt0, VmathPoint3 pnt1, unsigned int select1 ); + +/* + * Store x, y, and z elements of a 3-D point in the first three words of a quadword. + * The value of the fourth word (the word with the highest address) remains unchanged + */ +static inline void vmathP3StoreXYZ_V( VmathPoint3 pnt, vec_float4 *quad ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathP3LoadXYZArray_V( VmathPoint3 *pnt0, VmathPoint3 *pnt1, VmathPoint3 *pnt2, VmathPoint3 *pnt3, const vec_float4 *threeQuads ); + +/* + * Store four 3-D points in three quadwords + */ +static inline void vmathP3StoreXYZArray_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, vec_float4 *threeQuads ); + +/* + * Store eight 3-D points as half-floats + */ +static inline void vmathP3StoreHalfFloats_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3, VmathPoint3 pnt4, VmathPoint3 pnt5, VmathPoint3 pnt6, VmathPoint3 pnt7, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Print_V( VmathPoint3 pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathP3Prints_V( VmathPoint3 pnt, const char *name ); + +#endif + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline VmathQuat vmathQMakeFromElems_V( float x, float y, float z, float w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline VmathQuat vmathQMakeFromM3_V( VmathMatrix3 rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline VmathQuat vmathQMakeFromScalar_V( float scalar ); + +/* + * Set vector float data in a quaternion + */ +static inline VmathQuat vmathQMakeFrom128_V( vec_float4 vf4 ); + +/* + * Get vector float data from a quaternion + */ +static inline vec_float4 vmathQGet128_V( VmathQuat quat ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathQSetX_V( VmathQuat *result, float x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathQSetY_V( VmathQuat *result, float y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathQSetZ_V( VmathQuat *result, float z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathQSetW_V( VmathQuat *result, float w ); + +/* + * Get the x element of a quaternion + */ +static inline float vmathQGetX_V( VmathQuat quat ); + +/* + * Get the y element of a quaternion + */ +static inline float vmathQGetY_V( VmathQuat quat ); + +/* + * Get the z element of a quaternion + */ +static inline float vmathQGetZ_V( VmathQuat quat ); + +/* + * Get the w element of a quaternion + */ +static inline float vmathQGetW_V( VmathQuat quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline float vmathQGetElem_V( VmathQuat quat, int idx ); + +/* + * Add two quaternions + */ +static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply two quaternions + */ +static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline VmathQuat vmathQNeg_V( VmathQuat quat ); + +/* + * Construct an identity quaternion + */ +static inline VmathQuat vmathQMakeIdentity_V( ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline VmathQuat vmathQMakeRotationX_V( float radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline VmathQuat vmathQMakeRotationY_V( float radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline VmathQuat vmathQMakeRotationZ_V( float radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline VmathQuat vmathQConj_V( VmathQuat quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline VmathVector3 vmathQRotate_V( VmathQuat unitQuat, VmathVector3 vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline float vmathQNorm_V( VmathQuat quat ); + +/* + * Compute the length of a quaternion + */ +static inline float vmathQLength_V( VmathQuat quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline VmathQuat vmathQNormalize_V( VmathQuat quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrint_V( VmathQuat quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathQPrints_V( VmathQuat quat, const char *name ); + +#endif + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline VmathMatrix3 vmathM3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeFromQ_V( VmathQuat unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline VmathMatrix3 vmathM3MakeFromScalar_V( float scalar ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathM3SetCol0_V( VmathMatrix3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathM3SetCol1_V( VmathMatrix3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathM3SetCol2_V( VmathMatrix3 *result, VmathVector3 col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol0_V( VmathMatrix3 mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol1_V( VmathMatrix3 mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline VmathVector3 vmathM3GetCol2_V( VmathMatrix3 mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetCol_V( VmathMatrix3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathM3SetRow_V( VmathMatrix3 *result, int row, VmathVector3 vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetCol_V( VmathMatrix3 mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline VmathVector3 vmathM3GetRow_V( VmathMatrix3 mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathM3SetElem_V( VmathMatrix3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline float vmathM3GetElem_V( VmathMatrix3 mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Add_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Sub_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Neg_V( VmathMatrix3 mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline VmathMatrix3 vmathM3ScalarMul_V( VmathMatrix3 mat, float scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline VmathVector3 vmathM3MulV3_V( VmathMatrix3 mat, VmathVector3 vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline VmathMatrix3 vmathM3Mul_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline VmathMatrix3 vmathM3MakeIdentity_V( ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline VmathMatrix3 vmathM3MakeRotationX_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline VmathMatrix3 vmathM3MakeRotationY_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline VmathMatrix3 vmathM3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix3 vmathM3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix3 vmathM3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix3 vmathM3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline VmathMatrix3 vmathM3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3AppendScale_V( VmathMatrix3 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix3 vmathM3PrependScale_V( VmathVector3 scaleVec, VmathMatrix3 mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline VmathMatrix3 vmathM3MulPerElem_V( VmathMatrix3 mat0, VmathMatrix3 mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline VmathMatrix3 vmathM3AbsPerElem_V( VmathMatrix3 mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline VmathMatrix3 vmathM3Transpose_V( VmathMatrix3 mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix3 vmathM3Inverse_V( VmathMatrix3 mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline float vmathM3Determinant_V( VmathMatrix3 mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathMatrix3 vmathM3Select_V( VmathMatrix3 mat0, VmathMatrix3 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Print_V( VmathMatrix3 mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM3Prints_V( VmathMatrix3 mat, const char *name ); + +#endif + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline VmathMatrix4 vmathM4MakeFromCols_V( VmathVector4 col0, VmathVector4 col1, VmathVector4 col2, VmathVector4 col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MakeFromT3_V( VmathTransform3 mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromM3V3_V( VmathMatrix3 mat, VmathVector3 translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline VmathMatrix4 vmathM4MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetUpper3x3_V( VmathMatrix4 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline VmathMatrix3 vmathM4GetUpper3x3_V( VmathMatrix4 mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathM4SetTranslation_V( VmathMatrix4 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline VmathVector3 vmathM4GetTranslation_V( VmathMatrix4 mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathM4SetCol0_V( VmathMatrix4 *result, VmathVector4 col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathM4SetCol1_V( VmathMatrix4 *result, VmathVector4 col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathM4SetCol2_V( VmathMatrix4 *result, VmathVector4 col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathM4SetCol3_V( VmathMatrix4 *result, VmathVector4 col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol0_V( VmathMatrix4 mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol1_V( VmathMatrix4 mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol2_V( VmathMatrix4 mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline VmathVector4 vmathM4GetCol3_V( VmathMatrix4 mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetCol_V( VmathMatrix4 *result, int col, VmathVector4 vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathM4SetRow_V( VmathMatrix4 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetCol_V( VmathMatrix4 mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline VmathVector4 vmathM4GetRow_V( VmathMatrix4 mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathM4SetElem_V( VmathMatrix4 *result, int col, int row, float val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline float vmathM4GetElem_V( VmathMatrix4 mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Add_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Sub_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Neg_V( VmathMatrix4 mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline VmathMatrix4 vmathM4ScalarMul_V( VmathMatrix4 mat, float scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline VmathVector4 vmathM4MulV4_V( VmathMatrix4 mat, VmathVector4 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline VmathVector4 vmathM4MulV3_V( VmathMatrix4 mat, VmathVector3 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline VmathVector4 vmathM4MulP3_V( VmathMatrix4 mat, VmathPoint3 pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline VmathMatrix4 vmathM4Mul_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline VmathMatrix4 vmathM4MulT3_V( VmathMatrix4 mat, VmathTransform3 tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline VmathMatrix4 vmathM4MakeIdentity_V( ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline VmathMatrix4 vmathM4MakeRotationX_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline VmathMatrix4 vmathM4MakeRotationY_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline VmathMatrix4 vmathM4MakeRotationZ_V( float radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline VmathMatrix4 vmathM4MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathMatrix4 vmathM4MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathMatrix4 vmathM4MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline VmathMatrix4 vmathM4MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline VmathMatrix4 vmathM4MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline VmathMatrix4 vmathM4MakeLookAt_V( VmathPoint3 eyePos, VmathPoint3 lookAtPos, VmathVector3 upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline VmathMatrix4 vmathM4MakePerspective_V( float fovyRadians, float aspect, float zNear, float zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline VmathMatrix4 vmathM4MakeFrustum_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline VmathMatrix4 vmathM4MakeOrthographic_V( float left, float right, float bottom, float top, float zNear, float zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4AppendScale_V( VmathMatrix4 mat, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathMatrix4 vmathM4PrependScale_V( VmathVector3 scaleVec, VmathMatrix4 mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline VmathMatrix4 vmathM4MulPerElem_V( VmathMatrix4 mat0, VmathMatrix4 mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline VmathMatrix4 vmathM4AbsPerElem_V( VmathMatrix4 mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline VmathMatrix4 vmathM4Transpose_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4Inverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathMatrix4 vmathM4AffineInverse_V( VmathMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline VmathMatrix4 vmathM4OrthoInverse_V( VmathMatrix4 mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline float vmathM4Determinant_V( VmathMatrix4 mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathMatrix4 vmathM4Select_V( VmathMatrix4 mat0, VmathMatrix4 mat1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Print_V( VmathMatrix4 mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathM4Prints_V( VmathMatrix4 mat, const char *name ); + +#endif + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline VmathTransform3 vmathT3MakeFromCols_V( VmathVector3 col0, VmathVector3 col1, VmathVector3 col2, VmathVector3 col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromM3V3_V( VmathMatrix3 tfrm, VmathVector3 translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathTransform3 vmathT3MakeFromQV3_V( VmathQuat unitQuat, VmathVector3 translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline VmathTransform3 vmathT3MakeFromScalar_V( float scalar ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathT3SetUpper3x3_V( VmathTransform3 *result, VmathMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline VmathMatrix3 vmathT3GetUpper3x3_V( VmathTransform3 tfrm ); + +/* + * Set translation component + */ +static inline void vmathT3SetTranslation_V( VmathTransform3 *result, VmathVector3 translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetTranslation_V( VmathTransform3 tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol0_V( VmathTransform3 *result, VmathVector3 col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol1_V( VmathTransform3 *result, VmathVector3 col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol2_V( VmathTransform3 *result, VmathVector3 col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathT3SetCol3_V( VmathTransform3 *result, VmathVector3 col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol0_V( VmathTransform3 tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol1_V( VmathTransform3 tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol2_V( VmathTransform3 tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline VmathVector3 vmathT3GetCol3_V( VmathTransform3 tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetCol_V( VmathTransform3 *result, int col, VmathVector3 vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathT3SetRow_V( VmathTransform3 *result, int row, VmathVector4 vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector3 vmathT3GetCol_V( VmathTransform3 tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathVector4 vmathT3GetRow_V( VmathTransform3 tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathT3SetElem_V( VmathTransform3 *result, int col, int row, float val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline float vmathT3GetElem_V( VmathTransform3 tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline VmathVector3 vmathT3MulV3_V( VmathTransform3 tfrm, VmathVector3 vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline VmathPoint3 vmathT3MulP3_V( VmathTransform3 tfrm, VmathPoint3 pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline VmathTransform3 vmathT3Mul_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline VmathTransform3 vmathT3MakeIdentity_V( ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline VmathTransform3 vmathT3MakeRotationX_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline VmathTransform3 vmathT3MakeRotationY_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline VmathTransform3 vmathT3MakeRotationZ_V( float radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline VmathTransform3 vmathT3MakeRotationZYX_V( VmathVector3 radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline VmathTransform3 vmathT3MakeRotationAxis_V( float radians, VmathVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathTransform3 vmathT3MakeRotationQ_V( VmathQuat unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline VmathTransform3 vmathT3MakeScale_V( VmathVector3 scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline VmathTransform3 vmathT3MakeTranslation_V( VmathVector3 translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3AppendScale_V( VmathTransform3 tfrm, VmathVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathTransform3 vmathT3PrependScale_V( VmathVector3 scaleVec, VmathTransform3 tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline VmathTransform3 vmathT3MulPerElem_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline VmathTransform3 vmathT3AbsPerElem_V( VmathTransform3 tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline VmathTransform3 vmathT3Inverse_V( VmathTransform3 tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline VmathTransform3 vmathT3OrthoInverse_V( VmathTransform3 tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathTransform3 vmathT3Select_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, unsigned int select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Print_V( VmathTransform3 tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathT3Prints_V( VmathTransform3 tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vectormath_aos.h" +#include "vec_aos_v.h" +#include "quat_aos_v.h" +#include "mat_aos_v.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa.h new file mode 100644 index 000000000..c82afa234 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa.h @@ -0,0 +1,2012 @@ +/* + 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_SOA_C_H +#define _VECTORMATH_SOA_C_H + +#include +#include +#include "vectormath_aos.h" + +#ifdef _VECTORMATH_DEBUG +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_SOA_C_TYPES_H +#define _VECTORMATH_SOA_C_TYPES_H + +/* A set of four 3-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaVector3; + +/* A set of four 4-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector4 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaVector4; + +/* A set of four 3-D points in structure-of-arrays format + */ +typedef struct _VmathSoaPoint3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaPoint3; + +/* A set of four quaternions in structure-of-arrays format + */ +typedef struct _VmathSoaQuat +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaQuat; + +/* A set of four 3x3 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; +} VmathSoaMatrix3; + +/* A set of four 4x4 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix4 +{ + VmathSoaVector4 col0; + VmathSoaVector4 col1; + VmathSoaVector4 col2; + VmathSoaVector4 col3; +} VmathSoaMatrix4; + +/* A set of four 3x4 transformation matrices in structure-of-arrays format + */ +typedef struct _VmathSoaTransform3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; + VmathSoaVector3 col3; +} VmathSoaTransform3; + +#endif + +/* + * Copy a 3-D vector + */ +static inline void vmathSoaV3Copy( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline void vmathSoaV3MakeFromElems( VmathSoaVector3 *result, vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline void vmathSoaV3MakeFromP3( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline void vmathSoaV3MakeFromScalar( VmathSoaVector3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3-D vector + */ +static inline void vmathSoaV3MakeFromAos( VmathSoaVector3 *result, const VmathVector3 *vec ); + +/* + * Insert four AoS 3-D vectors + */ +static inline void vmathSoaV3MakeFrom4Aos( VmathSoaVector3 *result, const VmathVector3 *vec0, const VmathVector3 *vec1, const VmathVector3 *vec2, const VmathVector3 *vec3 ); + +/* + * Extract four AoS 3-D vectors + */ +static inline void vmathSoaV3Get4Aos( const VmathSoaVector3 *vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathSoaV3SetX( VmathSoaVector3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathSoaV3SetY( VmathSoaVector3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathSoaV3SetZ( VmathSoaVector3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetX( const VmathSoaVector3 *vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetY( const VmathSoaVector3 *vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetZ( const VmathSoaVector3 *vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathSoaV3SetElem( VmathSoaVector3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline vec_float4 vmathSoaV3GetElem( const VmathSoaVector3 *vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline void vmathSoaV3Add( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline void vmathSoaV3Sub( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline void vmathSoaV3AddP3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec, const VmathSoaPoint3 *pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline void vmathSoaV3ScalarMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline void vmathSoaV3ScalarDiv( VmathSoaVector3 *result, const VmathSoaVector3 *vec, vec_float4 scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline void vmathSoaV3Neg( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Construct x axis + */ +static inline void vmathSoaV3MakeXAxis( VmathSoaVector3 *result ); + +/* + * Construct y axis + */ +static inline void vmathSoaV3MakeYAxis( VmathSoaVector3 *result ); + +/* + * Construct z axis + */ +static inline void vmathSoaV3MakeZAxis( VmathSoaVector3 *result ); + +/* + * Multiply two 3-D vectors per element + */ +static inline void vmathSoaV3MulPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaV3DivPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaV3RecipPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaV3SqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaV3RsqrtPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline void vmathSoaV3AbsPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline void vmathSoaV3CopySignPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline void vmathSoaV3MaxPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline void vmathSoaV3MinPerElem( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MaxElem( const VmathSoaVector3 *vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MinElem( const VmathSoaVector3 *vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Sum( const VmathSoaVector3 *vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline vec_float4 vmathSoaV3Dot( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3LengthSqr( const VmathSoaVector3 *vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Length( const VmathSoaVector3 *vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathSoaV3Normalize( VmathSoaVector3 *result, const VmathSoaVector3 *vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline void vmathSoaV3Cross( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline void vmathSoaV3Outer( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline void vmathSoaV3RowMul( VmathSoaVector3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline void vmathSoaV3CrossMatrix( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline void vmathSoaV3CrossMatrixMul( VmathSoaMatrix3 *result, const VmathSoaVector3 *vec, const VmathSoaMatrix3 *mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV3Lerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV3Slerp( VmathSoaVector3 *result, vec_float4 t, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaV3Select( VmathSoaVector3 *result, const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathSoaV3LoadXYZArray( VmathSoaVector3 *vec, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D vector in three quadwords + */ +static inline void vmathSoaV3StoreXYZArray( const VmathSoaVector3 *vec, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D vectors as half-floats + */ +static inline void vmathSoaV3StoreHalfFloats( const VmathSoaVector3 *vec0, const VmathSoaVector3 *vec1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Print( const VmathSoaVector3 *vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Prints( const VmathSoaVector3 *vec, const char *name ); + +#endif + +/* + * Copy a 4-D vector + */ +static inline void vmathSoaV4Copy( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline void vmathSoaV4MakeFromElems( VmathSoaVector4 *result, vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline void vmathSoaV4MakeFromV3Scalar( VmathSoaVector4 *result, const VmathSoaVector3 *xyz, vec_float4 w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline void vmathSoaV4MakeFromV3( VmathSoaVector4 *result, const VmathSoaVector3 *vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline void vmathSoaV4MakeFromP3( VmathSoaVector4 *result, const VmathSoaPoint3 *pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline void vmathSoaV4MakeFromQ( VmathSoaVector4 *result, const VmathSoaQuat *quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline void vmathSoaV4MakeFromScalar( VmathSoaVector4 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 4-D vector + */ +static inline void vmathSoaV4MakeFromAos( VmathSoaVector4 *result, const VmathVector4 *vec ); + +/* + * Insert four AoS 4-D vectors + */ +static inline void vmathSoaV4MakeFrom4Aos( VmathSoaVector4 *result, const VmathVector4 *vec0, const VmathVector4 *vec1, const VmathVector4 *vec2, const VmathVector4 *vec3 ); + +/* + * Extract four AoS 4-D vectors + */ +static inline void vmathSoaV4Get4Aos( const VmathSoaVector4 *vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaV4SetXYZ( VmathSoaVector4 *result, const VmathSoaVector3 *vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline void vmathSoaV4GetXYZ( VmathSoaVector3 *result, const VmathSoaVector4 *vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathSoaV4SetX( VmathSoaVector4 *result, vec_float4 x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathSoaV4SetY( VmathSoaVector4 *result, vec_float4 y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathSoaV4SetZ( VmathSoaVector4 *result, vec_float4 z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathSoaV4SetW( VmathSoaVector4 *result, vec_float4 w ); + +/* + * Get the x element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetX( const VmathSoaVector4 *vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetY( const VmathSoaVector4 *vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetZ( const VmathSoaVector4 *vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetW( const VmathSoaVector4 *vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathSoaV4SetElem( VmathSoaVector4 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline vec_float4 vmathSoaV4GetElem( const VmathSoaVector4 *vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline void vmathSoaV4Add( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline void vmathSoaV4Sub( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline void vmathSoaV4ScalarMul( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline void vmathSoaV4ScalarDiv( VmathSoaVector4 *result, const VmathSoaVector4 *vec, vec_float4 scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline void vmathSoaV4Neg( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Construct x axis + */ +static inline void vmathSoaV4MakeXAxis( VmathSoaVector4 *result ); + +/* + * Construct y axis + */ +static inline void vmathSoaV4MakeYAxis( VmathSoaVector4 *result ); + +/* + * Construct z axis + */ +static inline void vmathSoaV4MakeZAxis( VmathSoaVector4 *result ); + +/* + * Construct w axis + */ +static inline void vmathSoaV4MakeWAxis( VmathSoaVector4 *result ); + +/* + * Multiply two 4-D vectors per element + */ +static inline void vmathSoaV4MulPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaV4DivPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaV4RecipPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaV4SqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaV4RsqrtPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline void vmathSoaV4AbsPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline void vmathSoaV4CopySignPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline void vmathSoaV4MaxPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline void vmathSoaV4MinPerElem( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MaxElem( const VmathSoaVector4 *vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MinElem( const VmathSoaVector4 *vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Sum( const VmathSoaVector4 *vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline vec_float4 vmathSoaV4Dot( const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4LengthSqr( const VmathSoaVector4 *vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Length( const VmathSoaVector4 *vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline void vmathSoaV4Normalize( VmathSoaVector4 *result, const VmathSoaVector4 *vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline void vmathSoaV4Outer( VmathSoaMatrix4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV4Lerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaV4Slerp( VmathSoaVector4 *result, vec_float4 t, const VmathSoaVector4 *unitVec0, const VmathSoaVector4 *unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaV4Select( VmathSoaVector4 *result, const VmathSoaVector4 *vec0, const VmathSoaVector4 *vec1, vec_uint4 select1 ); + +/* + * Store four slots of an SoA 4-D vector as half-floats + */ +static inline void vmathSoaV4StoreHalfFloats( const VmathSoaVector4 *vec, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Print( const VmathSoaVector4 *vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Prints( const VmathSoaVector4 *vec, const char *name ); + +#endif + +/* + * Copy a 3-D point + */ +static inline void vmathSoaP3Copy( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline void vmathSoaP3MakeFromElems( VmathSoaPoint3 *result, vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline void vmathSoaP3MakeFromV3( VmathSoaPoint3 *result, const VmathSoaVector3 *vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline void vmathSoaP3MakeFromScalar( VmathSoaPoint3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3-D point + */ +static inline void vmathSoaP3MakeFromAos( VmathSoaPoint3 *result, const VmathPoint3 *pnt ); + +/* + * Insert four AoS 3-D points + */ +static inline void vmathSoaP3MakeFrom4Aos( VmathSoaPoint3 *result, const VmathPoint3 *pnt0, const VmathPoint3 *pnt1, const VmathPoint3 *pnt2, const VmathPoint3 *pnt3 ); + +/* + * Extract four AoS 3-D points + */ +static inline void vmathSoaP3Get4Aos( const VmathSoaPoint3 *pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathSoaP3SetX( VmathSoaPoint3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathSoaP3SetY( VmathSoaPoint3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathSoaP3SetZ( VmathSoaPoint3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetX( const VmathSoaPoint3 *pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetY( const VmathSoaPoint3 *pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetZ( const VmathSoaPoint3 *pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathSoaP3SetElem( VmathSoaPoint3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline vec_float4 vmathSoaP3GetElem( const VmathSoaPoint3 *pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline void vmathSoaP3Sub( VmathSoaVector3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline void vmathSoaP3AddV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline void vmathSoaP3SubV3( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *vec ); + +/* + * Multiply two 3-D points per element + */ +static inline void vmathSoaP3MulPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline void vmathSoaP3DivPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline void vmathSoaP3RecipPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline void vmathSoaP3SqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline void vmathSoaP3RsqrtPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline void vmathSoaP3AbsPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline void vmathSoaP3CopySignPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline void vmathSoaP3MaxPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline void vmathSoaP3MinPerElem( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MaxElem( const VmathSoaPoint3 *pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MinElem( const VmathSoaPoint3 *pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline vec_float4 vmathSoaP3Sum( const VmathSoaPoint3 *pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline void vmathSoaP3Scale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, vec_float4 scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline void vmathSoaP3NonUniformScale( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt, const VmathSoaVector3 *scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline vec_float4 vmathSoaP3Projection( const VmathSoaPoint3 *pnt, const VmathSoaVector3 *unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistSqrFromOrigin( const VmathSoaPoint3 *pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistFromOrigin( const VmathSoaPoint3 *pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3DistSqr( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3Dist( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaP3Lerp( VmathSoaPoint3 *result, vec_float4 t, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaP3Select( VmathSoaPoint3 *result, const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathSoaP3LoadXYZArray( VmathSoaPoint3 *pnt, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D point in three quadwords + */ +static inline void vmathSoaP3StoreXYZArray( const VmathSoaPoint3 *pnt, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D points as half-floats + */ +static inline void vmathSoaP3StoreHalfFloats( const VmathSoaPoint3 *pnt0, const VmathSoaPoint3 *pnt1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Print( const VmathSoaPoint3 *pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Prints( const VmathSoaPoint3 *pnt, const char *name ); + +#endif + +/* + * Copy a quaternion + */ +static inline void vmathSoaQCopy( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline void vmathSoaQMakeFromElems( VmathSoaQuat *result, vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline void vmathSoaQMakeFromV3Scalar( VmathSoaQuat *result, const VmathSoaVector3 *xyz, vec_float4 w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline void vmathSoaQMakeFromV4( VmathSoaQuat *result, const VmathSoaVector4 *vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline void vmathSoaQMakeFromM3( VmathSoaQuat *result, const VmathSoaMatrix3 *rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline void vmathSoaQMakeFromScalar( VmathSoaQuat *result, vec_float4 scalar ); + +/* + * Replicate an AoS quaternion + */ +static inline void vmathSoaQMakeFromAos( VmathSoaQuat *result, const VmathQuat *quat ); + +/* + * Insert four AoS quaternions + */ +static inline void vmathSoaQMakeFrom4Aos( VmathSoaQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, const VmathQuat *quat2, const VmathQuat *quat3 ); + +/* + * Extract four AoS quaternions + */ +static inline void vmathSoaQGet4Aos( const VmathSoaQuat *quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaQSetXYZ( VmathSoaQuat *result, const VmathSoaVector3 *vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline void vmathSoaQGetXYZ( VmathSoaVector3 *result, const VmathSoaQuat *quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathSoaQSetX( VmathSoaQuat *result, vec_float4 x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathSoaQSetY( VmathSoaQuat *result, vec_float4 y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathSoaQSetZ( VmathSoaQuat *result, vec_float4 z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathSoaQSetW( VmathSoaQuat *result, vec_float4 w ); + +/* + * Get the x element of a quaternion + */ +static inline vec_float4 vmathSoaQGetX( const VmathSoaQuat *quat ); + +/* + * Get the y element of a quaternion + */ +static inline vec_float4 vmathSoaQGetY( const VmathSoaQuat *quat ); + +/* + * Get the z element of a quaternion + */ +static inline vec_float4 vmathSoaQGetZ( const VmathSoaQuat *quat ); + +/* + * Get the w element of a quaternion + */ +static inline vec_float4 vmathSoaQGetW( const VmathSoaQuat *quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathSoaQSetElem( VmathSoaQuat *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline vec_float4 vmathSoaQGetElem( const VmathSoaQuat *quat, int idx ); + +/* + * Add two quaternions + */ +static inline void vmathSoaQAdd( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline void vmathSoaQSub( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Multiply two quaternions + */ +static inline void vmathSoaQMul( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline void vmathSoaQScalarMul( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline void vmathSoaQScalarDiv( VmathSoaQuat *result, const VmathSoaQuat *quat, vec_float4 scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline void vmathSoaQNeg( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Construct an identity quaternion + */ +static inline void vmathSoaQMakeIdentity( VmathSoaQuat *result ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline void vmathSoaQMakeRotationArc( VmathSoaQuat *result, const VmathSoaVector3 *unitVec0, const VmathSoaVector3 *unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaQMakeRotationAxis( VmathSoaQuat *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline void vmathSoaQMakeRotationX( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline void vmathSoaQMakeRotationY( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline void vmathSoaQMakeRotationZ( VmathSoaQuat *result, vec_float4 radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline void vmathSoaQConj( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline void vmathSoaQRotate( VmathSoaVector3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline vec_float4 vmathSoaQDot( const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline vec_float4 vmathSoaQNorm( const VmathSoaQuat *quat ); + +/* + * Compute the length of a quaternion + */ +static inline vec_float4 vmathSoaQLength( const VmathSoaQuat *quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline void vmathSoaQNormalize( VmathSoaQuat *result, const VmathSoaQuat *quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaQLerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline void vmathSoaQSlerp( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline void vmathSoaQSquad( VmathSoaQuat *result, vec_float4 t, const VmathSoaQuat *unitQuat0, const VmathSoaQuat *unitQuat1, const VmathSoaQuat *unitQuat2, const VmathSoaQuat *unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaQSelect( VmathSoaQuat *result, const VmathSoaQuat *quat0, const VmathSoaQuat *quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrint( const VmathSoaQuat *quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrints( const VmathSoaQuat *quat, const char *name ); + +#endif + +/* + * Copy a 3x3 matrix + */ +static inline void vmathSoaM3Copy( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline void vmathSoaM3MakeFromCols( VmathSoaMatrix3 *result, const VmathSoaVector3 *col0, const VmathSoaVector3 *col1, const VmathSoaVector3 *col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM3MakeFromQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline void vmathSoaM3MakeFromScalar( VmathSoaMatrix3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3x3 matrix + */ +static inline void vmathSoaM3MakeFromAos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat ); + +/* + * Insert four AoS 3x3 matrices + */ +static inline void vmathSoaM3MakeFrom4Aos( VmathSoaMatrix3 *result, const VmathMatrix3 *mat0, const VmathMatrix3 *mat1, const VmathMatrix3 *mat2, const VmathMatrix3 *mat3 ); + +/* + * Extract four AoS 3x3 matrices + */ +static inline void vmathSoaM3Get4Aos( const VmathSoaMatrix3 *mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol0( VmathSoaMatrix3 *result, const VmathSoaVector3 *col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol1( VmathSoaMatrix3 *result, const VmathSoaVector3 *col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol2( VmathSoaMatrix3 *result, const VmathSoaVector3 *col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol0( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol1( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3GetCol2( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetCol( VmathSoaMatrix3 *result, int col, const VmathSoaVector3 *vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetRow( VmathSoaMatrix3 *result, int row, const VmathSoaVector3 *vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3GetCol( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3GetRow( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathSoaM3SetElem( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM3GetElem( const VmathSoaMatrix3 *mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline void vmathSoaM3Add( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline void vmathSoaM3Sub( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline void vmathSoaM3Neg( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline void vmathSoaM3ScalarMul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, vec_float4 scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline void vmathSoaM3MulV3( VmathSoaVector3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline void vmathSoaM3Mul( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline void vmathSoaM3MakeIdentity( VmathSoaMatrix3 *result ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline void vmathSoaM3MakeRotationX( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline void vmathSoaM3MakeRotationY( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline void vmathSoaM3MakeRotationZ( VmathSoaMatrix3 *result, vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaM3MakeRotationZYX( VmathSoaMatrix3 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaM3MakeRotationAxis( VmathSoaMatrix3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM3MakeRotationQ( VmathSoaMatrix3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline void vmathSoaM3MakeScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM3AppendScale( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM3PrependScale( VmathSoaMatrix3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix3 *mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline void vmathSoaM3MulPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline void vmathSoaM3AbsPerElem( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline void vmathSoaM3Transpose( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM3Inverse( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline vec_float4 vmathSoaM3Determinant( const VmathSoaMatrix3 *mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaM3Select( VmathSoaMatrix3 *result, const VmathSoaMatrix3 *mat0, const VmathSoaMatrix3 *mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Print( const VmathSoaMatrix3 *mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Prints( const VmathSoaMatrix3 *mat, const char *name ); + +#endif + +/* + * Copy a 4x4 matrix + */ +static inline void vmathSoaM4Copy( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline void vmathSoaM4MakeFromCols( VmathSoaMatrix4 *result, const VmathSoaVector4 *col0, const VmathSoaVector4 *col1, const VmathSoaVector4 *col2, const VmathSoaVector4 *col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline void vmathSoaM4MakeFromT3( VmathSoaMatrix4 *result, const VmathSoaTransform3 *mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathSoaM4MakeFromM3V3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat, const VmathSoaVector3 *translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathSoaM4MakeFromQV3( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline void vmathSoaM4MakeFromScalar( VmathSoaMatrix4 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 4x4 matrix + */ +static inline void vmathSoaM4MakeFromAos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat ); + +/* + * Insert four AoS 4x4 matrices + */ +static inline void vmathSoaM4MakeFrom4Aos( VmathSoaMatrix4 *result, const VmathMatrix4 *mat0, const VmathMatrix4 *mat1, const VmathMatrix4 *mat2, const VmathMatrix4 *mat3 ); + +/* + * Extract four AoS 4x4 matrices + */ +static inline void vmathSoaM4Get4Aos( const VmathSoaMatrix4 *mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetUpper3x3( VmathSoaMatrix4 *result, const VmathSoaMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline void vmathSoaM4GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline void vmathSoaM4GetTranslation( VmathSoaVector3 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol0( VmathSoaMatrix4 *result, const VmathSoaVector4 *col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol1( VmathSoaMatrix4 *result, const VmathSoaVector4 *col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol2( VmathSoaMatrix4 *result, const VmathSoaVector4 *col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol3( VmathSoaMatrix4 *result, const VmathSoaVector4 *col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol0( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol1( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol2( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4GetCol3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetCol( VmathSoaMatrix4 *result, int col, const VmathSoaVector4 *vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetRow( VmathSoaMatrix4 *result, int row, const VmathSoaVector4 *vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4GetCol( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4GetRow( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathSoaM4SetElem( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM4GetElem( const VmathSoaMatrix4 *mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline void vmathSoaM4Add( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline void vmathSoaM4Sub( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline void vmathSoaM4Neg( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline void vmathSoaM4ScalarMul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, vec_float4 scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline void vmathSoaM4MulV4( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector4 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline void vmathSoaM4MulV3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline void vmathSoaM4MulP3( VmathSoaVector4 *result, const VmathSoaMatrix4 *mat, const VmathSoaPoint3 *pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline void vmathSoaM4Mul( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline void vmathSoaM4MulT3( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaTransform3 *tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline void vmathSoaM4MakeIdentity( VmathSoaMatrix4 *result ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline void vmathSoaM4MakeRotationX( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline void vmathSoaM4MakeRotationY( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline void vmathSoaM4MakeRotationZ( VmathSoaMatrix4 *result, vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaM4MakeRotationZYX( VmathSoaMatrix4 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaM4MakeRotationAxis( VmathSoaMatrix4 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaM4MakeRotationQ( VmathSoaMatrix4 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline void vmathSoaM4MakeScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline void vmathSoaM4MakeTranslation( VmathSoaMatrix4 *result, const VmathSoaVector3 *translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline void vmathSoaM4MakeLookAt( VmathSoaMatrix4 *result, const VmathSoaPoint3 *eyePos, const VmathSoaPoint3 *lookAtPos, const VmathSoaVector3 *upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline void vmathSoaM4MakePerspective( VmathSoaMatrix4 *result, vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline void vmathSoaM4MakeFrustum( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline void vmathSoaM4MakeOrthographic( VmathSoaMatrix4 *result, vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM4AppendScale( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaM4PrependScale( VmathSoaMatrix4 *result, const VmathSoaVector3 *scaleVec, const VmathSoaMatrix4 *mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline void vmathSoaM4MulPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline void vmathSoaM4AbsPerElem( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline void vmathSoaM4Transpose( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM4Inverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline void vmathSoaM4AffineInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline void vmathSoaM4OrthoInverse( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline vec_float4 vmathSoaM4Determinant( const VmathSoaMatrix4 *mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaM4Select( VmathSoaMatrix4 *result, const VmathSoaMatrix4 *mat0, const VmathSoaMatrix4 *mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Print( const VmathSoaMatrix4 *mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Prints( const VmathSoaMatrix4 *mat, const char *name ); + +#endif + +/* + * Copy a 3x4 transformation matrix + */ +static inline void vmathSoaT3Copy( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline void vmathSoaT3MakeFromCols( VmathSoaTransform3 *result, const VmathSoaVector3 *col0, const VmathSoaVector3 *col1, const VmathSoaVector3 *col2, const VmathSoaVector3 *col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline void vmathSoaT3MakeFromM3V3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *tfrm, const VmathSoaVector3 *translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline void vmathSoaT3MakeFromQV3( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat, const VmathSoaVector3 *translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline void vmathSoaT3MakeFromScalar( VmathSoaTransform3 *result, vec_float4 scalar ); + +/* + * Replicate an AoS 3x4 transformation matrix + */ +static inline void vmathSoaT3MakeFromAos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm ); + +/* + * Insert four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3MakeFrom4Aos( VmathSoaTransform3 *result, const VmathTransform3 *tfrm0, const VmathTransform3 *tfrm1, const VmathTransform3 *tfrm2, const VmathTransform3 *tfrm3 ); + +/* + * Extract four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3Get4Aos( const VmathSoaTransform3 *tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathSoaT3SetUpper3x3( VmathSoaTransform3 *result, const VmathSoaMatrix3 *mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetUpper3x3( VmathSoaMatrix3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set translation component + */ +static inline void vmathSoaT3SetTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetTranslation( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol0( VmathSoaTransform3 *result, const VmathSoaVector3 *col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol1( VmathSoaTransform3 *result, const VmathSoaVector3 *col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol2( VmathSoaTransform3 *result, const VmathSoaVector3 *col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol3( VmathSoaTransform3 *result, const VmathSoaVector3 *col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol0( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol1( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol2( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3GetCol3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetCol( VmathSoaTransform3 *result, int col, const VmathSoaVector3 *vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetRow( VmathSoaTransform3 *result, int row, const VmathSoaVector4 *vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3GetCol( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3GetRow( VmathSoaVector4 *result, const VmathSoaTransform3 *tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathSoaT3SetElem( VmathSoaTransform3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaT3GetElem( const VmathSoaTransform3 *tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline void vmathSoaT3MulV3( VmathSoaVector3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline void vmathSoaT3MulP3( VmathSoaPoint3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaPoint3 *pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline void vmathSoaT3Mul( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline void vmathSoaT3MakeIdentity( VmathSoaTransform3 *result ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline void vmathSoaT3MakeRotationX( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline void vmathSoaT3MakeRotationY( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline void vmathSoaT3MakeRotationZ( VmathSoaTransform3 *result, vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline void vmathSoaT3MakeRotationZYX( VmathSoaTransform3 *result, const VmathSoaVector3 *radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline void vmathSoaT3MakeRotationAxis( VmathSoaTransform3 *result, vec_float4 radians, const VmathSoaVector3 *unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline void vmathSoaT3MakeRotationQ( VmathSoaTransform3 *result, const VmathSoaQuat *unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline void vmathSoaT3MakeScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline void vmathSoaT3MakeTranslation( VmathSoaTransform3 *result, const VmathSoaVector3 *translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaT3AppendScale( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm, const VmathSoaVector3 *scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline void vmathSoaT3PrependScale( VmathSoaTransform3 *result, const VmathSoaVector3 *scaleVec, const VmathSoaTransform3 *tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline void vmathSoaT3MulPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline void vmathSoaT3AbsPerElem( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline void vmathSoaT3Inverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline void vmathSoaT3OrthoInverse( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline void vmathSoaT3Select( VmathSoaTransform3 *result, const VmathSoaTransform3 *tfrm0, const VmathSoaTransform3 *tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Print( const VmathSoaTransform3 *tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Prints( const VmathSoaTransform3 *tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vec_soa.h" +#include "quat_soa.h" +#include "mat_soa.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa_v.h b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa_v.h new file mode 100644 index 000000000..3cb69e040 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa_v.h @@ -0,0 +1,1978 @@ +/* + 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_SOA_C_V_H +#define _VECTORMATH_SOA_C_V_H + +#include +#include +#include "vectormath_aos_v.h" + +#ifdef _VECTORMATH_DEBUG +#endif + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#ifndef _VECTORMATH_SOA_C_TYPES_H +#define _VECTORMATH_SOA_C_TYPES_H + +/* A set of four 3-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaVector3; + +/* A set of four 4-D vectors in structure-of-arrays format + */ +typedef struct _VmathSoaVector4 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaVector4; + +/* A set of four 3-D points in structure-of-arrays format + */ +typedef struct _VmathSoaPoint3 +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; +} VmathSoaPoint3; + +/* A set of four quaternions in structure-of-arrays format + */ +typedef struct _VmathSoaQuat +{ + vec_float4 x; + vec_float4 y; + vec_float4 z; + vec_float4 w; +} VmathSoaQuat; + +/* A set of four 3x3 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; +} VmathSoaMatrix3; + +/* A set of four 4x4 matrices in structure-of-arrays format + */ +typedef struct _VmathSoaMatrix4 +{ + VmathSoaVector4 col0; + VmathSoaVector4 col1; + VmathSoaVector4 col2; + VmathSoaVector4 col3; +} VmathSoaMatrix4; + +/* A set of four 3x4 transformation matrices in structure-of-arrays format + */ +typedef struct _VmathSoaTransform3 +{ + VmathSoaVector3 col0; + VmathSoaVector3 col1; + VmathSoaVector3 col2; + VmathSoaVector3 col3; +} VmathSoaTransform3; + +#endif + +/* + * Construct a 3-D vector from x, y, and z elements + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D point into a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromP3_V( VmathSoaPoint3 pnt ); + +/* + * Set all elements of a 3-D vector to the same scalar value + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3MakeFromAos_V( VmathVector3 vec ); + +/* + * Insert four AoS 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3MakeFrom4Aos_V( VmathVector3 vec0, VmathVector3 vec1, VmathVector3 vec2, VmathVector3 vec3 ); + +/* + * Extract four AoS 3-D vectors + */ +static inline void vmathSoaV3Get4Aos_V( VmathSoaVector3 vec, VmathVector3 *result0, VmathVector3 *result1, VmathVector3 *result2, VmathVector3 *result3 ); + +/* + * Set the x element of a 3-D vector + */ +static inline void vmathSoaV3SetX_V( VmathSoaVector3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D vector + */ +static inline void vmathSoaV3SetY_V( VmathSoaVector3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D vector + */ +static inline void vmathSoaV3SetZ_V( VmathSoaVector3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetX_V( VmathSoaVector3 vec ); + +/* + * Get the y element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetY_V( VmathSoaVector3 vec ); + +/* + * Get the z element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3GetZ_V( VmathSoaVector3 vec ); + +/* + * Set an x, y, or z element of a 3-D vector by index + */ +static inline void vmathSoaV3SetElem_V( VmathSoaVector3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D vector by index + */ +static inline vec_float4 vmathSoaV3GetElem_V( VmathSoaVector3 vec, int idx ); + +/* + * Add two 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3Add_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Subtract a 3-D vector from another 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3Sub_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Add a 3-D vector to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaV3AddP3_V( VmathSoaVector3 vec, VmathSoaPoint3 pnt ); + +/* + * Multiply a 3-D vector by a scalar + */ +static inline VmathSoaVector3 vmathSoaV3ScalarMul_V( VmathSoaVector3 vec, vec_float4 scalar ); + +/* + * Divide a 3-D vector by a scalar + */ +static inline VmathSoaVector3 vmathSoaV3ScalarDiv_V( VmathSoaVector3 vec, vec_float4 scalar ); + +/* + * Negate all elements of a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaV3Neg_V( VmathSoaVector3 vec ); + +/* + * Construct x axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathSoaVector3 vmathSoaV3MakeZAxis_V( ); + +/* + * Multiply two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MulPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Divide two 3-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaVector3 vmathSoaV3DivPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Compute the reciprocal of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaVector3 vmathSoaV3RecipPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaVector3 vmathSoaV3SqrtPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the reciprocal square root of a 3-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaVector3 vmathSoaV3RsqrtPerElem_V( VmathSoaVector3 vec ); + +/* + * Compute the absolute value of a 3-D vector per element + */ +static inline VmathSoaVector3 vmathSoaV3AbsPerElem_V( VmathSoaVector3 vec ); + +/* + * Copy sign from one 3-D vector to another, per element + */ +static inline VmathSoaVector3 vmathSoaV3CopySignPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Maximum of two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MaxPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Minimum of two 3-D vectors per element + */ +static inline VmathSoaVector3 vmathSoaV3MinPerElem_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Maximum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MaxElem_V( VmathSoaVector3 vec ); + +/* + * Minimum element of a 3-D vector + */ +static inline vec_float4 vmathSoaV3MinElem_V( VmathSoaVector3 vec ); + +/* + * Compute the sum of all elements of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Sum_V( VmathSoaVector3 vec ); + +/* + * Compute the dot product of two 3-D vectors + */ +static inline vec_float4 vmathSoaV3Dot_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Compute the square of the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3LengthSqr_V( VmathSoaVector3 vec ); + +/* + * Compute the length of a 3-D vector + */ +static inline vec_float4 vmathSoaV3Length_V( VmathSoaVector3 vec ); + +/* + * Normalize a 3-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathSoaVector3 vmathSoaV3Normalize_V( VmathSoaVector3 vec ); + +/* + * Compute cross product of two 3-D vectors + */ +static inline VmathSoaVector3 vmathSoaV3Cross_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Outer product of two 3-D vectors + */ +static inline VmathSoaMatrix3 vmathSoaV3Outer_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Pre-multiply a row vector by a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaV3RowMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ); + +/* + * Cross-product matrix of a 3-D vector + */ +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrix_V( VmathSoaVector3 vec ); + +/* + * Create cross-product matrix and multiply + * NOTE: + * Faster than separately creating a cross-product matrix and multiplying. + */ +static inline VmathSoaMatrix3 vmathSoaV3CrossMatrixMul_V( VmathSoaVector3 vec, VmathSoaMatrix3 mat ); + +/* + * Linear interpolation between two 3-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector3 vmathSoaV3Lerp_V( vec_float4 t, VmathSoaVector3 vec0, VmathSoaVector3 vec1 ); + +/* + * Spherical linear interpolation between two 3-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector3 vmathSoaV3Slerp_V( vec_float4 t, VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ); + +/* + * Conditionally select between two 3-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaVector3 vmathSoaV3Select_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D vectors, stored in three quadwords + */ +static inline void vmathSoaV3LoadXYZArray_V( VmathSoaVector3 *vec, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D vector in three quadwords + */ +static inline void vmathSoaV3StoreXYZArray_V( VmathSoaVector3 vec, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D vectors as half-floats + */ +static inline void vmathSoaV3StoreHalfFloats_V( VmathSoaVector3 vec0, VmathSoaVector3 vec1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Print_V( VmathSoaVector3 vec ); + +/* + * Print a 3-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV3Prints_V( VmathSoaVector3 vec, const char *name ); + +#endif + +/* + * Construct a 4-D vector from x, y, z, and w elements + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a 4-D vector from a 3-D vector and a scalar + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 w ); + +/* + * Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromV3_V( VmathSoaVector3 vec ); + +/* + * Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromP3_V( VmathSoaPoint3 pnt ); + +/* + * Copy elements from a quaternion into a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromQ_V( VmathSoaQuat quat ); + +/* + * Set all elements of a 4-D vector to the same scalar value + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4MakeFromAos_V( VmathVector4 vec ); + +/* + * Insert four AoS 4-D vectors + */ +static inline VmathSoaVector4 vmathSoaV4MakeFrom4Aos_V( VmathVector4 vec0, VmathVector4 vec1, VmathVector4 vec2, VmathVector4 vec3 ); + +/* + * Extract four AoS 4-D vectors + */ +static inline void vmathSoaV4Get4Aos_V( VmathSoaVector4 vec, VmathVector4 *result0, VmathVector4 *result1, VmathVector4 *result2, VmathVector4 *result3 ); + +/* + * Set the x, y, and z elements of a 4-D vector + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaV4SetXYZ_V( VmathSoaVector4 *result, VmathSoaVector3 vec ); + +/* + * Get the x, y, and z elements of a 4-D vector + */ +static inline VmathSoaVector3 vmathSoaV4GetXYZ_V( VmathSoaVector4 vec ); + +/* + * Set the x element of a 4-D vector + */ +static inline void vmathSoaV4SetX_V( VmathSoaVector4 *result, vec_float4 x ); + +/* + * Set the y element of a 4-D vector + */ +static inline void vmathSoaV4SetY_V( VmathSoaVector4 *result, vec_float4 y ); + +/* + * Set the z element of a 4-D vector + */ +static inline void vmathSoaV4SetZ_V( VmathSoaVector4 *result, vec_float4 z ); + +/* + * Set the w element of a 4-D vector + */ +static inline void vmathSoaV4SetW_V( VmathSoaVector4 *result, vec_float4 w ); + +/* + * Get the x element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetX_V( VmathSoaVector4 vec ); + +/* + * Get the y element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetY_V( VmathSoaVector4 vec ); + +/* + * Get the z element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetZ_V( VmathSoaVector4 vec ); + +/* + * Get the w element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4GetW_V( VmathSoaVector4 vec ); + +/* + * Set an x, y, z, or w element of a 4-D vector by index + */ +static inline void vmathSoaV4SetElem_V( VmathSoaVector4 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a 4-D vector by index + */ +static inline vec_float4 vmathSoaV4GetElem_V( VmathSoaVector4 vec, int idx ); + +/* + * Add two 4-D vectors + */ +static inline VmathSoaVector4 vmathSoaV4Add_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Subtract a 4-D vector from another 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4Sub_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Multiply a 4-D vector by a scalar + */ +static inline VmathSoaVector4 vmathSoaV4ScalarMul_V( VmathSoaVector4 vec, vec_float4 scalar ); + +/* + * Divide a 4-D vector by a scalar + */ +static inline VmathSoaVector4 vmathSoaV4ScalarDiv_V( VmathSoaVector4 vec, vec_float4 scalar ); + +/* + * Negate all elements of a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaV4Neg_V( VmathSoaVector4 vec ); + +/* + * Construct x axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeXAxis_V( ); + +/* + * Construct y axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeYAxis_V( ); + +/* + * Construct z axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeZAxis_V( ); + +/* + * Construct w axis + */ +static inline VmathSoaVector4 vmathSoaV4MakeWAxis_V( ); + +/* + * Multiply two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MulPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Divide two 4-D vectors per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaVector4 vmathSoaV4DivPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Compute the reciprocal of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaVector4 vmathSoaV4RecipPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaVector4 vmathSoaV4SqrtPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the reciprocal square root of a 4-D vector per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaVector4 vmathSoaV4RsqrtPerElem_V( VmathSoaVector4 vec ); + +/* + * Compute the absolute value of a 4-D vector per element + */ +static inline VmathSoaVector4 vmathSoaV4AbsPerElem_V( VmathSoaVector4 vec ); + +/* + * Copy sign from one 4-D vector to another, per element + */ +static inline VmathSoaVector4 vmathSoaV4CopySignPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Maximum of two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MaxPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Minimum of two 4-D vectors per element + */ +static inline VmathSoaVector4 vmathSoaV4MinPerElem_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Maximum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MaxElem_V( VmathSoaVector4 vec ); + +/* + * Minimum element of a 4-D vector + */ +static inline vec_float4 vmathSoaV4MinElem_V( VmathSoaVector4 vec ); + +/* + * Compute the sum of all elements of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Sum_V( VmathSoaVector4 vec ); + +/* + * Compute the dot product of two 4-D vectors + */ +static inline vec_float4 vmathSoaV4Dot_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Compute the square of the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4LengthSqr_V( VmathSoaVector4 vec ); + +/* + * Compute the length of a 4-D vector + */ +static inline vec_float4 vmathSoaV4Length_V( VmathSoaVector4 vec ); + +/* + * Normalize a 4-D vector + * NOTE: + * The result is unpredictable when all elements of vec are at or near zero. + */ +static inline VmathSoaVector4 vmathSoaV4Normalize_V( VmathSoaVector4 vec ); + +/* + * Outer product of two 4-D vectors + */ +static inline VmathSoaMatrix4 vmathSoaV4Outer_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Linear interpolation between two 4-D vectors + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector4 vmathSoaV4Lerp_V( vec_float4 t, VmathSoaVector4 vec0, VmathSoaVector4 vec1 ); + +/* + * Spherical linear interpolation between two 4-D vectors + * NOTE: + * The result is unpredictable if the vectors point in opposite directions. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaVector4 vmathSoaV4Slerp_V( vec_float4 t, VmathSoaVector4 unitVec0, VmathSoaVector4 unitVec1 ); + +/* + * Conditionally select between two 4-D vectors + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaVector4 vmathSoaV4Select_V( VmathSoaVector4 vec0, VmathSoaVector4 vec1, vec_uint4 select1 ); + +/* + * Store four slots of an SoA 4-D vector as half-floats + */ +static inline void vmathSoaV4StoreHalfFloats_V( VmathSoaVector4 vec, vec_ushort8 *twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4-D vector + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Print_V( VmathSoaVector4 vec ); + +/* + * Print a 4-D vector and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaV4Prints_V( VmathSoaVector4 vec, const char *name ); + +#endif + +/* + * Construct a 3-D point from x, y, and z elements + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z ); + +/* + * Copy elements from a 3-D vector into a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromV3_V( VmathSoaVector3 vec ); + +/* + * Set all elements of a 3-D point to the same scalar value + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFromAos_V( VmathPoint3 pnt ); + +/* + * Insert four AoS 3-D points + */ +static inline VmathSoaPoint3 vmathSoaP3MakeFrom4Aos_V( VmathPoint3 pnt0, VmathPoint3 pnt1, VmathPoint3 pnt2, VmathPoint3 pnt3 ); + +/* + * Extract four AoS 3-D points + */ +static inline void vmathSoaP3Get4Aos_V( VmathSoaPoint3 pnt, VmathPoint3 *result0, VmathPoint3 *result1, VmathPoint3 *result2, VmathPoint3 *result3 ); + +/* + * Set the x element of a 3-D point + */ +static inline void vmathSoaP3SetX_V( VmathSoaPoint3 *result, vec_float4 x ); + +/* + * Set the y element of a 3-D point + */ +static inline void vmathSoaP3SetY_V( VmathSoaPoint3 *result, vec_float4 y ); + +/* + * Set the z element of a 3-D point + */ +static inline void vmathSoaP3SetZ_V( VmathSoaPoint3 *result, vec_float4 z ); + +/* + * Get the x element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetX_V( VmathSoaPoint3 pnt ); + +/* + * Get the y element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetY_V( VmathSoaPoint3 pnt ); + +/* + * Get the z element of a 3-D point + */ +static inline vec_float4 vmathSoaP3GetZ_V( VmathSoaPoint3 pnt ); + +/* + * Set an x, y, or z element of a 3-D point by index + */ +static inline void vmathSoaP3SetElem_V( VmathSoaPoint3 *result, int idx, vec_float4 value ); + +/* + * Get an x, y, or z element of a 3-D point by index + */ +static inline vec_float4 vmathSoaP3GetElem_V( VmathSoaPoint3 pnt, int idx ); + +/* + * Subtract a 3-D point from another 3-D point + */ +static inline VmathSoaVector3 vmathSoaP3Sub_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Add a 3-D point to a 3-D vector + */ +static inline VmathSoaPoint3 vmathSoaP3AddV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec ); + +/* + * Subtract a 3-D vector from a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3SubV3_V( VmathSoaPoint3 pnt, VmathSoaVector3 vec ); + +/* + * Multiply two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MulPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Divide two 3-D points per element + * NOTE: + * Floating-point behavior matches standard library function divf4. + */ +static inline VmathSoaPoint3 vmathSoaP3DivPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Compute the reciprocal of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function recipf4. + */ +static inline VmathSoaPoint3 vmathSoaP3RecipPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function sqrtf4. + */ +static inline VmathSoaPoint3 vmathSoaP3SqrtPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the reciprocal square root of a 3-D point per element + * NOTE: + * Floating-point behavior matches standard library function rsqrtf4. + */ +static inline VmathSoaPoint3 vmathSoaP3RsqrtPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the absolute value of a 3-D point per element + */ +static inline VmathSoaPoint3 vmathSoaP3AbsPerElem_V( VmathSoaPoint3 pnt ); + +/* + * Copy sign from one 3-D point to another, per element + */ +static inline VmathSoaPoint3 vmathSoaP3CopySignPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Maximum of two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MaxPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Minimum of two 3-D points per element + */ +static inline VmathSoaPoint3 vmathSoaP3MinPerElem_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Maximum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MaxElem_V( VmathSoaPoint3 pnt ); + +/* + * Minimum element of a 3-D point + */ +static inline vec_float4 vmathSoaP3MinElem_V( VmathSoaPoint3 pnt ); + +/* + * Compute the sum of all elements of a 3-D point + */ +static inline vec_float4 vmathSoaP3Sum_V( VmathSoaPoint3 pnt ); + +/* + * Apply uniform scale to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3Scale_V( VmathSoaPoint3 pnt, vec_float4 scaleVal ); + +/* + * Apply non-uniform scale to a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaP3NonUniformScale_V( VmathSoaPoint3 pnt, VmathSoaVector3 scaleVec ); + +/* + * Scalar projection of a 3-D point on a unit-length 3-D vector + */ +static inline vec_float4 vmathSoaP3Projection_V( VmathSoaPoint3 pnt, VmathSoaVector3 unitVec ); + +/* + * Compute the square of the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistSqrFromOrigin_V( VmathSoaPoint3 pnt ); + +/* + * Compute the distance of a 3-D point from the coordinate-system origin + */ +static inline vec_float4 vmathSoaP3DistFromOrigin_V( VmathSoaPoint3 pnt ); + +/* + * Compute the square of the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3DistSqr_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Compute the distance between two 3-D points + */ +static inline vec_float4 vmathSoaP3Dist_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Linear interpolation between two 3-D points + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaPoint3 vmathSoaP3Lerp_V( vec_float4 t, VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1 ); + +/* + * Conditionally select between two 3-D points + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaPoint3 vmathSoaP3Select_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_uint4 select1 ); + +/* + * Load four three-float 3-D points, stored in three quadwords + */ +static inline void vmathSoaP3LoadXYZArray_V( VmathSoaPoint3 *pnt, const vec_float4 *threeQuads ); + +/* + * Store four slots of an SoA 3-D point in three quadwords + */ +static inline void vmathSoaP3StoreXYZArray_V( VmathSoaPoint3 pnt, vec_float4 *threeQuads ); + +/* + * Store eight slots of two SoA 3-D points as half-floats + */ +static inline void vmathSoaP3StoreHalfFloats_V( VmathSoaPoint3 pnt0, VmathSoaPoint3 pnt1, vec_ushort8 *threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3-D point + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Print_V( VmathSoaPoint3 pnt ); + +/* + * Print a 3-D point and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaP3Prints_V( VmathSoaPoint3 pnt, const char *name ); + +#endif + +/* + * Construct a quaternion from x, y, z, and w elements + */ +static inline VmathSoaQuat vmathSoaQMakeFromElems_V( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + +/* + * Construct a quaternion from a 3-D vector and a scalar + */ +static inline VmathSoaQuat vmathSoaQMakeFromV3Scalar_V( VmathSoaVector3 xyz, vec_float4 w ); + +/* + * Copy elements from a 4-D vector into a quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromV4_V( VmathSoaVector4 vec ); + +/* + * Convert a rotation matrix to a unit-length quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromM3_V( VmathSoaMatrix3 rotMat ); + +/* + * Set all elements of a quaternion to the same scalar value + */ +static inline VmathSoaQuat vmathSoaQMakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeFromAos_V( VmathQuat quat ); + +/* + * Insert four AoS quaternions + */ +static inline VmathSoaQuat vmathSoaQMakeFrom4Aos_V( VmathQuat quat0, VmathQuat quat1, VmathQuat quat2, VmathQuat quat3 ); + +/* + * Extract four AoS quaternions + */ +static inline void vmathSoaQGet4Aos_V( VmathSoaQuat quat, VmathQuat *result0, VmathQuat *result1, VmathQuat *result2, VmathQuat *result3 ); + +/* + * Set the x, y, and z elements of a quaternion + * NOTE: + * This function does not change the w element. + */ +static inline void vmathSoaQSetXYZ_V( VmathSoaQuat *result, VmathSoaVector3 vec ); + +/* + * Get the x, y, and z elements of a quaternion + */ +static inline VmathSoaVector3 vmathSoaQGetXYZ_V( VmathSoaQuat quat ); + +/* + * Set the x element of a quaternion + */ +static inline void vmathSoaQSetX_V( VmathSoaQuat *result, vec_float4 x ); + +/* + * Set the y element of a quaternion + */ +static inline void vmathSoaQSetY_V( VmathSoaQuat *result, vec_float4 y ); + +/* + * Set the z element of a quaternion + */ +static inline void vmathSoaQSetZ_V( VmathSoaQuat *result, vec_float4 z ); + +/* + * Set the w element of a quaternion + */ +static inline void vmathSoaQSetW_V( VmathSoaQuat *result, vec_float4 w ); + +/* + * Get the x element of a quaternion + */ +static inline vec_float4 vmathSoaQGetX_V( VmathSoaQuat quat ); + +/* + * Get the y element of a quaternion + */ +static inline vec_float4 vmathSoaQGetY_V( VmathSoaQuat quat ); + +/* + * Get the z element of a quaternion + */ +static inline vec_float4 vmathSoaQGetZ_V( VmathSoaQuat quat ); + +/* + * Get the w element of a quaternion + */ +static inline vec_float4 vmathSoaQGetW_V( VmathSoaQuat quat ); + +/* + * Set an x, y, z, or w element of a quaternion by index + */ +static inline void vmathSoaQSetElem_V( VmathSoaQuat *result, int idx, vec_float4 value ); + +/* + * Get an x, y, z, or w element of a quaternion by index + */ +static inline vec_float4 vmathSoaQGetElem_V( VmathSoaQuat quat, int idx ); + +/* + * Add two quaternions + */ +static inline VmathSoaQuat vmathSoaQAdd_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Subtract a quaternion from another quaternion + */ +static inline VmathSoaQuat vmathSoaQSub_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Multiply two quaternions + */ +static inline VmathSoaQuat vmathSoaQMul_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Multiply a quaternion by a scalar + */ +static inline VmathSoaQuat vmathSoaQScalarMul_V( VmathSoaQuat quat, vec_float4 scalar ); + +/* + * Divide a quaternion by a scalar + */ +static inline VmathSoaQuat vmathSoaQScalarDiv_V( VmathSoaQuat quat, vec_float4 scalar ); + +/* + * Negate all elements of a quaternion + */ +static inline VmathSoaQuat vmathSoaQNeg_V( VmathSoaQuat quat ); + +/* + * Construct an identity quaternion + */ +static inline VmathSoaQuat vmathSoaQMakeIdentity_V( ); + +/* + * Construct a quaternion to rotate between two unit-length 3-D vectors + * NOTE: + * The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + */ +static inline VmathSoaQuat vmathSoaQMakeRotationArc_V( VmathSoaVector3 unitVec0, VmathSoaVector3 unitVec1 ); + +/* + * Construct a quaternion to rotate around a unit-length 3-D vector + */ +static inline VmathSoaQuat vmathSoaQMakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a quaternion to rotate around the x axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationX_V( vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the y axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationY_V( vec_float4 radians ); + +/* + * Construct a quaternion to rotate around the z axis + */ +static inline VmathSoaQuat vmathSoaQMakeRotationZ_V( vec_float4 radians ); + +/* + * Compute the conjugate of a quaternion + */ +static inline VmathSoaQuat vmathSoaQConj_V( VmathSoaQuat quat ); + +/* + * Use a unit-length quaternion to rotate a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaQRotate_V( VmathSoaQuat unitQuat, VmathSoaVector3 vec ); + +/* + * Compute the dot product of two quaternions + */ +static inline vec_float4 vmathSoaQDot_V( VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Compute the norm of a quaternion + */ +static inline vec_float4 vmathSoaQNorm_V( VmathSoaQuat quat ); + +/* + * Compute the length of a quaternion + */ +static inline vec_float4 vmathSoaQLength_V( VmathSoaQuat quat ); + +/* + * Normalize a quaternion + * NOTE: + * The result is unpredictable when all elements of quat are at or near zero. + */ +static inline VmathSoaQuat vmathSoaQNormalize_V( VmathSoaQuat quat ); + +/* + * Linear interpolation between two quaternions + * NOTE: + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaQuat vmathSoaQLerp_V( vec_float4 t, VmathSoaQuat quat0, VmathSoaQuat quat1 ); + +/* + * Spherical linear interpolation between two quaternions + * NOTE: + * Interpolates along the shortest path between orientations. + * Does not clamp t between 0 and 1. + */ +static inline VmathSoaQuat vmathSoaQSlerp_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1 ); + +/* + * Spherical quadrangle interpolation + */ +static inline VmathSoaQuat vmathSoaQSquad_V( vec_float4 t, VmathSoaQuat unitQuat0, VmathSoaQuat unitQuat1, VmathSoaQuat unitQuat2, VmathSoaQuat unitQuat3 ); + +/* + * Conditionally select between two quaternions + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaQuat vmathSoaQSelect_V( VmathSoaQuat quat0, VmathSoaQuat quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a quaternion + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrint_V( VmathSoaQuat quat ); + +/* + * Print a quaternion and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaQPrints_V( VmathSoaQuat quat, const char *name ); + +#endif + +/* + * Construct a 3x3 matrix containing the specified columns + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromCols_V( VmathSoaVector3 col0, VmathSoaVector3 col1, VmathSoaVector3 col2 ); + +/* + * Construct a 3x3 rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromQ_V( VmathSoaQuat unitQuat ); + +/* + * Set all elements of a 3x3 matrix to the same scalar value + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFromAos_V( VmathMatrix3 mat ); + +/* + * Insert four AoS 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeFrom4Aos_V( VmathMatrix3 mat0, VmathMatrix3 mat1, VmathMatrix3 mat2, VmathMatrix3 mat3 ); + +/* + * Extract four AoS 3x3 matrices + */ +static inline void vmathSoaM3Get4Aos_V( VmathSoaMatrix3 mat, VmathMatrix3 *result0, VmathMatrix3 *result1, VmathMatrix3 *result2, VmathMatrix3 *result3 ); + +/* + * Set column 0 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol0_V( VmathSoaMatrix3 *result, VmathSoaVector3 col0 ); + +/* + * Set column 1 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol1_V( VmathSoaMatrix3 *result, VmathSoaVector3 col1 ); + +/* + * Set column 2 of a 3x3 matrix + */ +static inline void vmathSoaM3SetCol2_V( VmathSoaMatrix3 *result, VmathSoaVector3 col2 ); + +/* + * Get column 0 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol0_V( VmathSoaMatrix3 mat ); + +/* + * Get column 1 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol1_V( VmathSoaMatrix3 mat ); + +/* + * Get column 2 of a 3x3 matrix + */ +static inline VmathSoaVector3 vmathSoaM3GetCol2_V( VmathSoaMatrix3 mat ); + +/* + * Set the column of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetCol_V( VmathSoaMatrix3 *result, int col, VmathSoaVector3 vec ); + +/* + * Set the row of a 3x3 matrix referred to by the specified index + */ +static inline void vmathSoaM3SetRow_V( VmathSoaMatrix3 *result, int row, VmathSoaVector3 vec ); + +/* + * Get the column of a 3x3 matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaM3GetCol_V( VmathSoaMatrix3 mat, int col ); + +/* + * Get the row of a 3x3 matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaM3GetRow_V( VmathSoaMatrix3 mat, int row ); + +/* + * Set the element of a 3x3 matrix referred to by column and row indices + */ +static inline void vmathSoaM3SetElem_V( VmathSoaMatrix3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x3 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM3GetElem_V( VmathSoaMatrix3 mat, int col, int row ); + +/* + * Add two 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3Add_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Subtract a 3x3 matrix from another 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Sub_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Negate all elements of a 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Neg_V( VmathSoaMatrix3 mat ); + +/* + * Multiply a 3x3 matrix by a scalar + */ +static inline VmathSoaMatrix3 vmathSoaM3ScalarMul_V( VmathSoaMatrix3 mat, vec_float4 scalar ); + +/* + * Multiply a 3x3 matrix by a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaM3MulV3_V( VmathSoaMatrix3 mat, VmathSoaVector3 vec ); + +/* + * Multiply two 3x3 matrices + */ +static inline VmathSoaMatrix3 vmathSoaM3Mul_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Construct an identity 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeIdentity_V( ); + +/* + * Construct a 3x3 matrix to rotate around the x axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the y axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the z axis + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 3x3 matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 3x3 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 3x3 matrix to perform scaling + */ +static inline VmathSoaMatrix3 vmathSoaM3MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix3 vmathSoaM3AppendScale_V( VmathSoaMatrix3 mat, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x3 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix3 vmathSoaM3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix3 mat ); + +/* + * Multiply two 3x3 matrices per element + */ +static inline VmathSoaMatrix3 vmathSoaM3MulPerElem_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1 ); + +/* + * Compute the absolute value of a 3x3 matrix per element + */ +static inline VmathSoaMatrix3 vmathSoaM3AbsPerElem_V( VmathSoaMatrix3 mat ); + +/* + * Transpose of a 3x3 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM3Transpose_V( VmathSoaMatrix3 mat ); + +/* + * Compute the inverse of a 3x3 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix3 vmathSoaM3Inverse_V( VmathSoaMatrix3 mat ); + +/* + * Determinant of a 3x3 matrix + */ +static inline vec_float4 vmathSoaM3Determinant_V( VmathSoaMatrix3 mat ); + +/* + * Conditionally select between two 3x3 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaMatrix3 vmathSoaM3Select_V( VmathSoaMatrix3 mat0, VmathSoaMatrix3 mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x3 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Print_V( VmathSoaMatrix3 mat ); + +/* + * Print a 3x3 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM3Prints_V( VmathSoaMatrix3 mat, const char *name ); + +#endif + +/* + * Construct a 4x4 matrix containing the specified columns + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromCols_V( VmathSoaVector4 col0, VmathSoaVector4 col1, VmathSoaVector4 col2, VmathSoaVector4 col3 ); + +/* + * Construct a 4x4 matrix from a 3x4 transformation matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromT3_V( VmathSoaTransform3 mat ); + +/* + * Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromM3V3_V( VmathSoaMatrix3 mat, VmathSoaVector3 translateVec ); + +/* + * Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ); + +/* + * Set all elements of a 4x4 matrix to the same scalar value + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFromAos_V( VmathMatrix4 mat ); + +/* + * Insert four AoS 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFrom4Aos_V( VmathMatrix4 mat0, VmathMatrix4 mat1, VmathMatrix4 mat2, VmathMatrix4 mat3 ); + +/* + * Extract four AoS 4x4 matrices + */ +static inline void vmathSoaM4Get4Aos_V( VmathSoaMatrix4 mat, VmathMatrix4 *result0, VmathMatrix4 *result1, VmathMatrix4 *result2, VmathMatrix4 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetUpper3x3_V( VmathSoaMatrix4 *result, VmathSoaMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 4x4 matrix + */ +static inline VmathSoaMatrix3 vmathSoaM4GetUpper3x3_V( VmathSoaMatrix4 mat ); + +/* + * Set translation component + * NOTE: + * This function does not change the bottom row elements. + */ +static inline void vmathSoaM4SetTranslation_V( VmathSoaMatrix4 *result, VmathSoaVector3 translateVec ); + +/* + * Get the translation component of a 4x4 matrix + */ +static inline VmathSoaVector3 vmathSoaM4GetTranslation_V( VmathSoaMatrix4 mat ); + +/* + * Set column 0 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol0_V( VmathSoaMatrix4 *result, VmathSoaVector4 col0 ); + +/* + * Set column 1 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol1_V( VmathSoaMatrix4 *result, VmathSoaVector4 col1 ); + +/* + * Set column 2 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol2_V( VmathSoaMatrix4 *result, VmathSoaVector4 col2 ); + +/* + * Set column 3 of a 4x4 matrix + */ +static inline void vmathSoaM4SetCol3_V( VmathSoaMatrix4 *result, VmathSoaVector4 col3 ); + +/* + * Get column 0 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol0_V( VmathSoaMatrix4 mat ); + +/* + * Get column 1 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol1_V( VmathSoaMatrix4 mat ); + +/* + * Get column 2 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol2_V( VmathSoaMatrix4 mat ); + +/* + * Get column 3 of a 4x4 matrix + */ +static inline VmathSoaVector4 vmathSoaM4GetCol3_V( VmathSoaMatrix4 mat ); + +/* + * Set the column of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetCol_V( VmathSoaMatrix4 *result, int col, VmathSoaVector4 vec ); + +/* + * Set the row of a 4x4 matrix referred to by the specified index + */ +static inline void vmathSoaM4SetRow_V( VmathSoaMatrix4 *result, int row, VmathSoaVector4 vec ); + +/* + * Get the column of a 4x4 matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaM4GetCol_V( VmathSoaMatrix4 mat, int col ); + +/* + * Get the row of a 4x4 matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaM4GetRow_V( VmathSoaMatrix4 mat, int row ); + +/* + * Set the element of a 4x4 matrix referred to by column and row indices + */ +static inline void vmathSoaM4SetElem_V( VmathSoaMatrix4 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 4x4 matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaM4GetElem_V( VmathSoaMatrix4 mat, int col, int row ); + +/* + * Add two 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4Add_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Subtract a 4x4 matrix from another 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Sub_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Negate all elements of a 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Neg_V( VmathSoaMatrix4 mat ); + +/* + * Multiply a 4x4 matrix by a scalar + */ +static inline VmathSoaMatrix4 vmathSoaM4ScalarMul_V( VmathSoaMatrix4 mat, vec_float4 scalar ); + +/* + * Multiply a 4x4 matrix by a 4-D vector + */ +static inline VmathSoaVector4 vmathSoaM4MulV4_V( VmathSoaMatrix4 mat, VmathSoaVector4 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D vector + */ +static inline VmathSoaVector4 vmathSoaM4MulV3_V( VmathSoaMatrix4 mat, VmathSoaVector3 vec ); + +/* + * Multiply a 4x4 matrix by a 3-D point + */ +static inline VmathSoaVector4 vmathSoaM4MulP3_V( VmathSoaMatrix4 mat, VmathSoaPoint3 pnt ); + +/* + * Multiply two 4x4 matrices + */ +static inline VmathSoaMatrix4 vmathSoaM4Mul_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Multiply a 4x4 matrix by a 3x4 transformation matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MulT3_V( VmathSoaMatrix4 mat, VmathSoaTransform3 tfrm ); + +/* + * Construct an identity 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeIdentity_V( ); + +/* + * Construct a 4x4 matrix to rotate around the x axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the y axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the z axis + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 4x4 matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 4x4 matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 4x4 matrix to perform scaling + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Construct a 4x4 matrix to perform translation + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeTranslation_V( VmathSoaVector3 translateVec ); + +/* + * Construct viewing matrix based on eye position, position looked at, and up direction + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeLookAt_V( VmathSoaPoint3 eyePos, VmathSoaPoint3 lookAtPos, VmathSoaVector3 upVec ); + +/* + * Construct a perspective projection matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakePerspective_V( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct a perspective projection matrix based on frustum + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeFrustum_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Construct an orthographic projection matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4MakeOrthographic_V( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +/* + * Append (post-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix4 vmathSoaM4AppendScale_V( VmathSoaMatrix4 mat, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 4x4 matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaMatrix4 vmathSoaM4PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaMatrix4 mat ); + +/* + * Multiply two 4x4 matrices per element + */ +static inline VmathSoaMatrix4 vmathSoaM4MulPerElem_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1 ); + +/* + * Compute the absolute value of a 4x4 matrix per element + */ +static inline VmathSoaMatrix4 vmathSoaM4AbsPerElem_V( VmathSoaMatrix4 mat ); + +/* + * Transpose of a 4x4 matrix + */ +static inline VmathSoaMatrix4 vmathSoaM4Transpose_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix + * NOTE: + * Result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix4 vmathSoaM4Inverse_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. + */ +static inline VmathSoaMatrix4 vmathSoaM4AffineInverse_V( VmathSoaMatrix4 mat ); + +/* + * Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. + */ +static inline VmathSoaMatrix4 vmathSoaM4OrthoInverse_V( VmathSoaMatrix4 mat ); + +/* + * Determinant of a 4x4 matrix + */ +static inline vec_float4 vmathSoaM4Determinant_V( VmathSoaMatrix4 mat ); + +/* + * Conditionally select between two 4x4 matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaMatrix4 vmathSoaM4Select_V( VmathSoaMatrix4 mat0, VmathSoaMatrix4 mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 4x4 matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Print_V( VmathSoaMatrix4 mat ); + +/* + * Print a 4x4 matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaM4Prints_V( VmathSoaMatrix4 mat, const char *name ); + +#endif + +/* + * Construct a 3x4 transformation matrix containing the specified columns + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromCols_V( VmathSoaVector3 col0, VmathSoaVector3 col1, VmathSoaVector3 col2, VmathSoaVector3 col3 ); + +/* + * Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromM3V3_V( VmathSoaMatrix3 tfrm, VmathSoaVector3 translateVec ); + +/* + * Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromQV3_V( VmathSoaQuat unitQuat, VmathSoaVector3 translateVec ); + +/* + * Set all elements of a 3x4 transformation matrix to the same scalar value + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromScalar_V( vec_float4 scalar ); + +/* + * Replicate an AoS 3x4 transformation matrix + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFromAos_V( VmathTransform3 tfrm ); + +/* + * Insert four AoS 3x4 transformation matrices + */ +static inline VmathSoaTransform3 vmathSoaT3MakeFrom4Aos_V( VmathTransform3 tfrm0, VmathTransform3 tfrm1, VmathTransform3 tfrm2, VmathTransform3 tfrm3 ); + +/* + * Extract four AoS 3x4 transformation matrices + */ +static inline void vmathSoaT3Get4Aos_V( VmathSoaTransform3 tfrm, VmathTransform3 *result0, VmathTransform3 *result1, VmathTransform3 *result2, VmathTransform3 *result3 ); + +/* + * Set the upper-left 3x3 submatrix + */ +static inline void vmathSoaT3SetUpper3x3_V( VmathSoaTransform3 *result, VmathSoaMatrix3 mat3 ); + +/* + * Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + */ +static inline VmathSoaMatrix3 vmathSoaT3GetUpper3x3_V( VmathSoaTransform3 tfrm ); + +/* + * Set translation component + */ +static inline void vmathSoaT3SetTranslation_V( VmathSoaTransform3 *result, VmathSoaVector3 translateVec ); + +/* + * Get the translation component of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetTranslation_V( VmathSoaTransform3 tfrm ); + +/* + * Set column 0 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol0_V( VmathSoaTransform3 *result, VmathSoaVector3 col0 ); + +/* + * Set column 1 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol1_V( VmathSoaTransform3 *result, VmathSoaVector3 col1 ); + +/* + * Set column 2 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol2_V( VmathSoaTransform3 *result, VmathSoaVector3 col2 ); + +/* + * Set column 3 of a 3x4 transformation matrix + */ +static inline void vmathSoaT3SetCol3_V( VmathSoaTransform3 *result, VmathSoaVector3 col3 ); + +/* + * Get column 0 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol0_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 1 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol1_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 2 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol2_V( VmathSoaTransform3 tfrm ); + +/* + * Get column 3 of a 3x4 transformation matrix + */ +static inline VmathSoaVector3 vmathSoaT3GetCol3_V( VmathSoaTransform3 tfrm ); + +/* + * Set the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetCol_V( VmathSoaTransform3 *result, int col, VmathSoaVector3 vec ); + +/* + * Set the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline void vmathSoaT3SetRow_V( VmathSoaTransform3 *result, int row, VmathSoaVector4 vec ); + +/* + * Get the column of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathSoaVector3 vmathSoaT3GetCol_V( VmathSoaTransform3 tfrm, int col ); + +/* + * Get the row of a 3x4 transformation matrix referred to by the specified index + */ +static inline VmathSoaVector4 vmathSoaT3GetRow_V( VmathSoaTransform3 tfrm, int row ); + +/* + * Set the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline void vmathSoaT3SetElem_V( VmathSoaTransform3 *result, int col, int row, vec_float4 val ); + +/* + * Get the element of a 3x4 transformation matrix referred to by column and row indices + */ +static inline vec_float4 vmathSoaT3GetElem_V( VmathSoaTransform3 tfrm, int col, int row ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D vector + */ +static inline VmathSoaVector3 vmathSoaT3MulV3_V( VmathSoaTransform3 tfrm, VmathSoaVector3 vec ); + +/* + * Multiply a 3x4 transformation matrix by a 3-D point + */ +static inline VmathSoaPoint3 vmathSoaT3MulP3_V( VmathSoaTransform3 tfrm, VmathSoaPoint3 pnt ); + +/* + * Multiply two 3x4 transformation matrices + */ +static inline VmathSoaTransform3 vmathSoaT3Mul_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ); + +/* + * Construct an identity 3x4 transformation matrix + */ +static inline VmathSoaTransform3 vmathSoaT3MakeIdentity_V( ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationX_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the y axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationY_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the z axis + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZ_V( vec_float4 radians ); + +/* + * Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationZYX_V( VmathSoaVector3 radiansXYZ ); + +/* + * Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationAxis_V( vec_float4 radians, VmathSoaVector3 unitVec ); + +/* + * Construct a rotation matrix from a unit-length quaternion + */ +static inline VmathSoaTransform3 vmathSoaT3MakeRotationQ_V( VmathSoaQuat unitQuat ); + +/* + * Construct a 3x4 transformation matrix to perform scaling + */ +static inline VmathSoaTransform3 vmathSoaT3MakeScale_V( VmathSoaVector3 scaleVec ); + +/* + * Construct a 3x4 transformation matrix to perform translation + */ +static inline VmathSoaTransform3 vmathSoaT3MakeTranslation_V( VmathSoaVector3 translateVec ); + +/* + * Append (post-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaTransform3 vmathSoaT3AppendScale_V( VmathSoaTransform3 tfrm, VmathSoaVector3 scaleVec ); + +/* + * Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix + * NOTE: + * Faster than creating and multiplying a scale transformation matrix. + */ +static inline VmathSoaTransform3 vmathSoaT3PrependScale_V( VmathSoaVector3 scaleVec, VmathSoaTransform3 tfrm ); + +/* + * Multiply two 3x4 transformation matrices per element + */ +static inline VmathSoaTransform3 vmathSoaT3MulPerElem_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1 ); + +/* + * Compute the absolute value of a 3x4 transformation matrix per element + */ +static inline VmathSoaTransform3 vmathSoaT3AbsPerElem_V( VmathSoaTransform3 tfrm ); + +/* + * Inverse of a 3x4 transformation matrix + * NOTE: + * Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. + */ +static inline VmathSoaTransform3 vmathSoaT3Inverse_V( VmathSoaTransform3 tfrm ); + +/* + * Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix + * NOTE: + * This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. + */ +static inline VmathSoaTransform3 vmathSoaT3OrthoInverse_V( VmathSoaTransform3 tfrm ); + +/* + * Conditionally select between two 3x4 transformation matrices + * NOTE: + * This function uses a conditional select instruction to avoid a branch. + */ +static inline VmathSoaTransform3 vmathSoaT3Select_V( VmathSoaTransform3 tfrm0, VmathSoaTransform3 tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +/* + * Print a 3x4 transformation matrix + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Print_V( VmathSoaTransform3 tfrm ); + +/* + * Print a 3x4 transformation matrix and an associated string identifier + * NOTE: + * Function is only defined when _VECTORMATH_DEBUG is defined. + */ +static inline void vmathSoaT3Prints_V( VmathSoaTransform3 tfrm, const char *name ); + +#endif + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#include "vectormath_soa.h" +#include "vec_soa_v.h" +#include "quat_soa_v.h" +#include "mat_soa_v.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/boolInVec.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/boolInVec.h new file mode 100644 index 000000000..93a3ad29d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/boolInVec.h @@ -0,0 +1,246 @@ +/* + 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 + +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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/floatInVec.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/floatInVec.h new file mode 100644 index 000000000..06d7892ef --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/floatInVec.h @@ -0,0 +1,340 @@ +/* + 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 +#include +#include "spu2vmx.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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_aos.h new file mode 100644 index 000000000..a2fd611ec --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_aos.h @@ -0,0 +1,2027 @@ +/* + 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_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_0ZB0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_C0X0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_YA00 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_Z }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X }) +#define _VECTORMATH_SHUF_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y }) +#define _VECTORMATH_SHUF_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZAY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BZX0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_0ZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A }) +#define _VECTORMATH_SHUF_Z0XB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YX0C ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_0, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_CZD0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_BBY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( Quat unitQuat ) +{ + vec_float4 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((int)0x0c0d0e0f); + vec_uint4 select_x = (vec_uint4)spu_maskb(0xf000); + vec_uint4 select_z = (vec_uint4)spu_maskb(0x00f0); + xyzw_2 = spu_add( unitQuat.get128(), unitQuat.get128() ); + wwww = spu_shuffle( unitQuat.get128(), unitQuat.get128(), shuffle_wwww ); + yzxw = spu_shuffle( unitQuat.get128(), unitQuat.get128(), _VECTORMATH_SHUF_YZXW ); + zxyw = spu_shuffle( unitQuat.get128(), unitQuat.get128(), _VECTORMATH_SHUF_ZXYW ); + yzxw_2 = spu_shuffle( xyzw_2, xyzw_2, _VECTORMATH_SHUF_YZXW ); + zxyw_2 = spu_shuffle( xyzw_2, xyzw_2, _VECTORMATH_SHUF_ZXYW ); + tmp0 = spu_mul( yzxw_2, wwww ); + tmp1 = spu_nmsub( yzxw, yzxw_2, spu_splats(1.0f) ); + tmp2 = spu_mul( yzxw, xyzw_2 ); + tmp0 = spu_madd( zxyw, xyzw_2, tmp0 ); + tmp1 = spu_nmsub( zxyw, zxyw_2, tmp1 ); + tmp2 = spu_nmsub( zxyw_2, wwww, tmp2 ); + tmp3 = spu_sel( tmp0, tmp1, select_x ); + tmp4 = spu_sel( tmp1, tmp2, select_x ); + tmp5 = spu_sel( tmp2, tmp0, select_x ); + mCol0 = Vector3( spu_sel( tmp3, tmp2, select_z ) ); + mCol1 = Vector3( spu_sel( tmp4, tmp0, select_z ) ); + mCol2 = Vector3( spu_sel( tmp5, tmp1, select_z ) ); +} + +inline Matrix3::Matrix3( Vector3 _col0, Vector3 _col1, Vector3 _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( Vector3 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( Vector3 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( Vector3 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, Vector3 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, Vector3 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, res0, res1, res2; + tmp0 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_ZCWD ); + res0 = spu_shuffle( tmp0, mat.getCol1().get128(), _VECTORMATH_SHUF_XAYB ); + res1 = spu_shuffle( tmp0, mat.getCol1().get128(), _VECTORMATH_SHUF_ZBW0 ); + res2 = spu_shuffle( tmp1, mat.getCol1().get128(), _VECTORMATH_SHUF_XCY0 ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + tmp2 = _vmathVfCross( mat.getCol0().get128(), mat.getCol1().get128() ); + tmp0 = _vmathVfCross( mat.getCol1().get128(), mat.getCol2().get128() ); + tmp1 = _vmathVfCross( mat.getCol2().get128(), mat.getCol0().get128() ); + dot = _vmathVfDot3( tmp2, mat.getCol2().get128() ); + dot = spu_shuffle( dot, dot, (vec_uchar16)spu_splats(0x00010203) ); + invdet = recipf4( dot ); + tmp3 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_XAYB ); + tmp4 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_ZCWD ); + inv0 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_XAYB ); + inv1 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp4, tmp1, _VECTORMATH_SHUF_XCY0 ); + inv0 = spu_mul( inv0, invdet ); + inv1 = spu_mul( inv1, invdet ); + inv2 = spu_mul( inv2, invdet ); + return Matrix3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec.get128(), vec.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( vec.get128(), vec.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( vec.get128(), vec.get128(), shuffle_zzzz ); + res = spu_mul( mCol0.get128(), xxxx ); + res = spu_madd( mCol1.get128(), yyyy, res ); + res = spu_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + return Matrix3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + return Matrix3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ.get128(); + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + return Matrix3( + Vector3( spu_mul( Z0, Y0 ) ), + Vector3( spu_madd( Z1, X1, spu_mul( tmp, X0 ) ) ), + Vector3( spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, Vector3 unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + 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); + axis = unitVec.get128(); + sincosf4( spu_splats( radians ), &s, &c ); + xxxx = spu_shuffle( axis, axis, shuffle_xxxx ); + yyyy = spu_shuffle( axis, axis, shuffle_yyyy ); + zzzz = spu_shuffle( axis, axis, shuffle_zzzz ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + axisS = spu_mul( axis, s ); + negAxisS = negatef4( axisS ); + tmp0 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_0ZB0 ); + tmp1 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_C0X0 ); + tmp2 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_YA00 ); + tmp0 = spu_sel( tmp0, c, (vec_uint4)spu_maskb(0xf000) ); + tmp1 = spu_sel( tmp1, c, (vec_uint4)spu_maskb(0x0f00) ); + tmp2 = spu_sel( tmp2, c, (vec_uint4)spu_maskb(0x00f0) ); + return Matrix3( + Vector3( spu_madd( spu_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector3( spu_madd( spu_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector3( spu_madd( spu_mul( axis, zzzz ), oneMinusC, tmp2 ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( Quat unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( Vector3 scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + return Matrix3( + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0xf000) ) ), + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x0f00) ) ), + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x00f0) ) ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, Vector3 scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( Vector3 scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( Vector4 _col0, Vector4 _col1, Vector4 _col2, Vector4 _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, Vector3 translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( Quat unitQuat, Vector3 translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( Vector4 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( Vector4 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( Vector4 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( Vector4 _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, Vector4 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, Vector4 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat.getCol1().get128(), mat.getCol3().get128(), _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( mat.getCol1().get128(), mat.getCol3().get128(), _VECTORMATH_SHUF_ZCWD ); + res0 = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ); + res1 = spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ); + res2 = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ); + res3 = spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4( res2 ), + Vector4( res3 ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 in0, in1, in2, in3; + vec_float4 tmp0, tmp1, tmp2, tmp3; + vec_float4 cof0, cof1, cof2, cof3; + vec_float4 t0, t1, t2, t3; + vec_float4 t01, t02, t03, t12, t23; + vec_float4 t1r, t2r; + vec_float4 t01r, t02r, t03r, t12r, t23r; + vec_float4 t1r3, t1r3r; + vec_float4 det, det1, det2, det3, invdet; + in0 = mat.getCol0().get128(); + in1 = mat.getCol1().get128(); + in2 = mat.getCol2().get128(); + in3 = mat.getCol3().get128(); + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_XAZC); /* A E C G */ + tmp1 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_XAZC); /* I M K O */ + tmp2 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_YBWD); /* B F D H */ + tmp3 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_YBWD); /* J N L P */ + t0 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_XYAB); /* A E I M */ + t1 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_XYAB); /* J N B F */ + t2 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_ZWCD); /* C G K O */ + t3 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = spu_mul(t2, t3); /* CL GP KD OH */ + t23 = spu_shuffle(t23, t23, _VECTORMATH_SHUF_YXWZ); /* GP CL OH KD */ + cof0 = spu_mul(t1, t23); /* JGP NCL BOH FKD */ + cof1 = spu_mul(t0, t23); /* AGP ECL IOH MKD */ + t23r = spu_rlqwbyte(t23, 8); /* OH KD GP CL */ + cof0 = spu_msub(t1, t23r, cof0); /* JOH NKD BGP FCL - cof0 */ + cof1 = spu_msub(t0, t23r, cof1); /* AOH EKD IGP MCL - cof1 */ + cof1 = spu_rlqwbyte(cof1, 8); /* IGP MCL AOH EKD - IOH MKD AGP ECL */ + + t12 = spu_mul(t1, t2); /* JC NG BK FO */ + t12 = spu_shuffle(t12, t12, _VECTORMATH_SHUF_YXWZ); /* NG JC FO BK */ + cof0 = spu_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + cof3 = spu_mul(t0, t12); /* ANG EJC IFO MBK */ + t12r = spu_rlqwbyte(t12, 8); /* FO BK NG JC */ + cof0 = spu_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + cof3 = spu_msub(t0, t12r, cof3); /* AFO EBK ING MJC - cof3 */ + cof3 = spu_rlqwbyte(cof3, 8); /* ING MJC AFO EBK - IFO MBK ANG EJC */ + t1r = spu_rlqwbyte(t1, 8); /* B F J N */ + t2r = spu_rlqwbyte(t2, 8); /* K O C G */ + t1r3 = spu_mul(t1r, t3); /* BL FP JD NH */ + t1r3 = spu_shuffle(t1r3, t1r3, _VECTORMATH_SHUF_YXWZ); /* FP BL NH JD */ + cof0 = spu_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + cof2 = spu_mul(t0, t1r3); /* AFP EBL INH MJD */ + t1r3r = spu_rlqwbyte(t1r3, 8); /* NH JD FP BL */ + cof0 = spu_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + cof2 = spu_msub(t0, t1r3r, cof2); /* ANH EJD IFP MBL - cof2 */ + cof2 = spu_rlqwbyte(cof2, 8); /* IFP MBL ANH EJD - INH MJD AFP EBL */ + t01 = spu_mul(t0, t1); /* AJ EN IB MF */ + t01 = spu_shuffle(t01, t01, _VECTORMATH_SHUF_YXWZ); /* EN AJ MF IB */ + cof2 = spu_madd(t3, t01, cof2); /* LEN PAJ DMF HIB + cof2 */ + cof3 = spu_msub(t2r, t01, cof3); /* KEN OAJ CMF GIB - cof3 */ + t01r = spu_rlqwbyte(t01, 8); /* MF IB EN AJ */ + cof2 = spu_msub(t3, t01r, cof2); /* LMF PIB DEN HAJ - cof2 */ + cof3 = spu_nmsub(t2r, t01r, cof3); /* cof3 - KMF OIB CEN GAJ */ + t03 = spu_mul(t0, t3); /* AL EP ID MH */ + t03 = spu_shuffle(t03, t03, _VECTORMATH_SHUF_YXWZ); /* EP AL MH ID */ + cof1 = spu_nmsub(t2r, t03, cof1); /* cof1 - KEP OAL CMH GID */ + cof2 = spu_madd(t1, t03, cof2); /* JEP NAL BMH FID + cof2 */ + t03r = spu_rlqwbyte(t03, 8); /* MH ID EP AL */ + cof1 = spu_madd(t2r, t03r, cof1); /* KMH OID CEP GAL + cof1 */ + cof2 = spu_nmsub(t1, t03r, cof2); /* cof2 - JMH NID BEP FAL */ + t02 = spu_mul(t0, t2r); /* AK EO IC MG */ + t02 = spu_shuffle(t02, t02, _VECTORMATH_SHUF_YXWZ); /* E0 AK MG IC */ + cof1 = spu_madd(t3, t02, cof1); /* LEO PAK DMG HIC + cof1 */ + cof3 = spu_nmsub(t1, t02, cof3); /* cof3 - JEO NAK BMG FIC */ + t02r = spu_rlqwbyte(t02, 8); /* MG IC EO AK */ + cof1 = spu_nmsub(t3, t02r, cof1); /* cof1 - LMG PIC DEO HAK */ + cof3 = spu_madd(t1, t02r, cof3); /* JMG NIC BEO FAK + cof3 */ + /* Compute the determinant of the matrix + * + * det = sum_across(t0 * cof0); + * + * We perform a sum across the entire vector so that + * we don't have to splat the result when multiplying the + * cofactors by the inverse of the determinant. + */ + det = spu_mul(t0, cof0); + det1 = spu_rlqwbyte(det, 4); + det2 = spu_rlqwbyte(det, 8); + det3 = spu_rlqwbyte(det, 12); + det = spu_add(det, det1); + det2 = spu_add(det2, det3); + det = spu_add(det, det2); + /* Compute the reciprocal of the determinant. + */ + invdet = recipf4(det); + /* Multiply the cofactors by the reciprocal of the determinant. + */ + return Matrix4( + Vector4( spu_mul(cof0, invdet) ), + Vector4( spu_mul(cof1, invdet) ), + Vector4( spu_mul(cof2, invdet) ), + Vector4( spu_mul(cof3, invdet) ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 in0, in1, in2, in3; + vec_float4 tmp0, tmp1, tmp2, tmp3; + vec_float4 cof0; + vec_float4 t0, t1, t2, t3; + vec_float4 t12, t23; + vec_float4 t1r, t2r; + vec_float4 t12r, t23r; + vec_float4 t1r3, t1r3r; + in0 = mat.getCol0().get128(); + in1 = mat.getCol1().get128(); + in2 = mat.getCol2().get128(); + in3 = mat.getCol3().get128(); + /* Perform transform of the input matrix of the form: + * A B C D + * E F G H + * I J K L + * M N O P + * + * The pseudo transpose of the input matrix is trans: + * A E I M + * J N B F + * C G K O + * L P D H + */ + tmp0 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_XAZC); /* A E C G */ + tmp1 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_XAZC); /* I M K O */ + tmp2 = spu_shuffle(in0, in1, _VECTORMATH_SHUF_YBWD); /* B F D H */ + tmp3 = spu_shuffle(in2, in3, _VECTORMATH_SHUF_YBWD); /* J N L P */ + t0 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_XYAB); /* A E I M */ + t1 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_XYAB); /* J N B F */ + t2 = spu_shuffle(tmp0, tmp1, _VECTORMATH_SHUF_ZWCD); /* C G K O */ + t3 = spu_shuffle(tmp3, tmp2, _VECTORMATH_SHUF_ZWCD); /* L P D H */ + /* Generate a cofactor matrix. The computed cofactors reside in + * cof0, cof1, cof2, cof3. + */ + t23 = spu_mul(t2, t3); /* CL GP KD OH */ + t23 = spu_shuffle(t23, t23, _VECTORMATH_SHUF_YXWZ); /* GP CL OH KD */ + cof0 = spu_mul(t1, t23); /* JGP NCL BOH FKD */ + t23r = spu_rlqwbyte(t23, 8); /* OH KD GP CL */ + cof0 = spu_msub(t1, t23r, cof0); /* JOH NKD BGP FCL - cof0 */ + + t12 = spu_mul(t1, t2); /* JC NG BK FO */ + t12 = spu_shuffle(t12, t12, _VECTORMATH_SHUF_YXWZ); /* NG JC FO BK */ + cof0 = spu_madd(t3, t12, cof0); /* LNG PJC DFO HBK + cof0 */ + t12r = spu_rlqwbyte(t12, 8); /* FO BK NG JC */ + cof0 = spu_nmsub(t3, t12r, cof0); /* cof0 - LFO PBK DNG HJC */ + t1r = spu_rlqwbyte(t1, 8); /* B F J N */ + t2r = spu_rlqwbyte(t2, 8); /* K O C G */ + t1r3 = spu_mul(t1r, t3); /* BL FP JD NH */ + t1r3 = spu_shuffle(t1r3, t1r3, _VECTORMATH_SHUF_YXWZ); /* FP BL NH JD */ + cof0 = spu_madd(t2r, t1r3, cof0); /* KFP OBL CNH GJD + cof0 */ + t1r3r = spu_rlqwbyte(t1r3, 8); /* NH JD FP BL */ + cof0 = spu_nmsub(t2r, t1r3r, cof0); /* cof0 - KNH OJD CFP GBL */ + return spu_extract( _vmathVfDot4(t0,cof0), 0 ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( Vector4 vec ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz, wwww; + 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); + xxxx = spu_shuffle( vec.get128(), vec.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( vec.get128(), vec.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( vec.get128(), vec.get128(), shuffle_zzzz ); + wwww = spu_shuffle( vec.get128(), vec.get128(), shuffle_wwww ); + tmp0 = spu_mul( mCol0.get128(), xxxx ); + tmp1 = spu_mul( mCol1.get128(), yyyy ); + tmp0 = spu_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = spu_madd( mCol3.get128(), wwww, tmp1 ); + res = spu_add( tmp0, tmp1 ); + return Vector4( res ); +} + +inline const Vector4 Matrix4::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec.get128(), vec.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( vec.get128(), vec.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( vec.get128(), vec.get128(), shuffle_zzzz ); + res = spu_mul( mCol0.get128(), xxxx ); + res = spu_madd( mCol1.get128(), yyyy, res ); + res = spu_madd( mCol2.get128(), zzzz, res ); + return Vector4( res ); +} + +inline const Vector4 Matrix4::operator *( Point3 pnt ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_zzzz ); + tmp0 = spu_mul( mCol0.get128(), xxxx ); + tmp1 = spu_mul( mCol1.get128(), yyyy ); + tmp0 = spu_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = spu_add( mCol3.get128(), tmp1 ); + res = spu_add( tmp0, tmp1 ); + return Vector4( res ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( Vector3 translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + return Matrix4( + Vector4::xAxis( ), + Vector4( res1 ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + return Matrix4( + Vector4( res0 ), + Vector4::yAxis( ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ.get128(); + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + return Matrix4( + Vector4( spu_mul( Z0, Y0 ) ), + Vector4( spu_madd( Z1, X1, spu_mul( tmp, X0 ) ) ), + Vector4( spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, Vector3 unitVec ) +{ + vec_float4 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2, zeroW; + 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); + axis = unitVec.get128(); + sincosf4( spu_splats( radians ), &s, &c ); + xxxx = spu_shuffle( axis, axis, shuffle_xxxx ); + yyyy = spu_shuffle( axis, axis, shuffle_yyyy ); + zzzz = spu_shuffle( axis, axis, shuffle_zzzz ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + axisS = spu_mul( axis, s ); + negAxisS = negatef4( axisS ); + tmp0 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_0ZB0 ); + tmp1 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_C0X0 ); + tmp2 = spu_shuffle( axisS, negAxisS, _VECTORMATH_SHUF_YA00 ); + tmp0 = spu_sel( tmp0, c, (vec_uint4)spu_maskb(0xf000) ); + tmp1 = spu_sel( tmp1, c, (vec_uint4)spu_maskb(0x0f00) ); + tmp2 = spu_sel( tmp2, c, (vec_uint4)spu_maskb(0x00f0) ); + zeroW = (vec_float4)spu_maskb(0x000f); + axis = spu_andc( axis, zeroW ); + return Matrix4( + Vector4( spu_madd( spu_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector4( spu_madd( spu_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector4( spu_madd( spu_mul( axis, zzzz ), oneMinusC, tmp2 ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( Quat unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( Vector3 scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + return Matrix4( + Vector4( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0xf000) ) ), + Vector4( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x0f00) ) ), + Vector4( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x00f0) ) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, Vector3 scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( Vector3 scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( Vector3 translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( Point3 eyePos, Point3 lookAtPos, Vector3 upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + vec_float4 zero, col0, col1, col2, col3; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = spu_splats(0.0f); + col0 = zero; + col1 = zero; + col2 = zero; + col3 = zero; + col0 = spu_insert( f / aspect, col0, 0 ); + col1 = spu_insert( f, col1, 1 ); + col2 = spu_insert( ( zNear + zFar ) * rangeInv, col2, 2 ); + col2 = spu_insert( -1.0f, col2, 3 ); + col3 = spu_insert( zNear * zFar * rangeInv * 2.0f, col3, 2 ); + return Matrix4( + Vector4( col0 ), + Vector4( col1 ), + Vector4( col2 ), + Vector4( col3 ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff; + vec_float4 diagonal, column, near2; + vec_float4 zero = spu_splats(0.0f); + lbf = spu_shuffle( spu_promote(left,0), spu_promote(zFar,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( spu_promote(right,0), spu_promote(zNear,0), _VECTORMATH_SHUF_XAYB ); + lbf = spu_shuffle( lbf, spu_promote(bottom,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( rtn, spu_promote(top,0), _VECTORMATH_SHUF_XAYB ); + diff = spu_sub( rtn, lbf ); + sum = spu_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = spu_splats( zNear ); + near2 = spu_add( near2, near2 ); + diagonal = spu_mul( near2, inv_diff ); + column = spu_mul( sum, inv_diff ); + return Matrix4( + Vector4( spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0xf000) ) ), + Vector4( spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x0f00) ) ), + Vector4( spu_sel( column, spu_splats(-1.0f), (vec_uint4)spu_maskb(0x000f) ) ), + Vector4( spu_sel( zero, spu_mul( diagonal, spu_splats(zFar) ), (vec_uint4)spu_maskb(0x00f0) ) ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + vec_float4 lbf, rtn; + vec_float4 diff, sum, inv_diff, neg_inv_diff; + vec_float4 diagonal, column; + vec_float4 zero = spu_splats(0.0f); + lbf = spu_shuffle( spu_promote(left,0), spu_promote(zFar,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( spu_promote(right,0), spu_promote(zNear,0), _VECTORMATH_SHUF_XAYB ); + lbf = spu_shuffle( lbf, spu_promote(bottom,0), _VECTORMATH_SHUF_XAYB ); + rtn = spu_shuffle( rtn, spu_promote(top,0), _VECTORMATH_SHUF_XAYB ); + diff = spu_sub( rtn, lbf ); + sum = spu_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = spu_add( inv_diff, inv_diff ); + column = spu_mul( sum, spu_sel( neg_inv_diff, inv_diff, (vec_uint4)spu_maskb(0x00f0) ) ); + return Matrix4( + Vector4( spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0xf000) ) ), + Vector4( spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x0f00) ) ), + Vector4( spu_sel( zero, diagonal, (vec_uint4)spu_maskb(0x00f0) ) ), + Vector4( spu_sel( column, spu_splats(1.0f), (vec_uint4)spu_maskb(0x000f) ) ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( Vector3 _col0, Vector3 _col1, Vector3 _col2, Vector3 _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, Vector3 translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( Quat unitQuat, Vector3 translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( Vector3 _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( Vector3 _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( Vector3 _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( Vector3 _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, Vector3 vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, Vector4 vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp2 = _vmathVfCross( tfrm.getCol0().get128(), tfrm.getCol1().get128() ); + tmp0 = _vmathVfCross( tfrm.getCol1().get128(), tfrm.getCol2().get128() ); + tmp1 = _vmathVfCross( tfrm.getCol2().get128(), tfrm.getCol0().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + dot = _vmathVfDot3( tmp2, tfrm.getCol2().get128() ); + dot = spu_shuffle( dot, dot, shuffle_xxxx ); + invdet = recipf4( dot ); + tmp3 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_XAYB ); + tmp4 = spu_shuffle( tmp0, tmp2, _VECTORMATH_SHUF_ZCWD ); + inv0 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_XAYB ); + xxxx = spu_shuffle( inv3, inv3, shuffle_xxxx ); + inv1 = spu_shuffle( tmp3, tmp1, _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp4, tmp1, _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( inv3, inv3, shuffle_yyyy ); + zzzz = spu_shuffle( inv3, inv3, shuffle_zzzz ); + inv3 = spu_mul( inv0, xxxx ); + inv3 = spu_madd( inv1, yyyy, inv3 ); + inv3 = spu_madd( inv2, zzzz, inv3 ); + inv0 = spu_mul( inv0, invdet ); + inv1 = spu_mul( inv1, invdet ); + inv2 = spu_mul( inv2, invdet ); + inv3 = spu_mul( inv3, invdet ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + vec_float4 inv0, inv1, inv2, inv3; + vec_float4 tmp0, tmp1; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp0 = spu_shuffle( tfrm.getCol0().get128(), tfrm.getCol2().get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( tfrm.getCol0().get128(), tfrm.getCol2().get128(), _VECTORMATH_SHUF_ZCWD ); + inv3 = negatef4( tfrm.getCol3().get128() ); + inv0 = spu_shuffle( tmp0, tfrm.getCol1().get128(), _VECTORMATH_SHUF_XAYB ); + xxxx = spu_shuffle( inv3, inv3, shuffle_xxxx ); + inv1 = spu_shuffle( tmp0, tfrm.getCol1().get128(), _VECTORMATH_SHUF_ZBW0 ); + inv2 = spu_shuffle( tmp1, tfrm.getCol1().get128(), _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( inv3, inv3, shuffle_yyyy ); + zzzz = spu_shuffle( inv3, inv3, shuffle_zzzz ); + inv3 = spu_mul( inv0, xxxx ); + inv3 = spu_madd( inv1, yyyy, inv3 ); + inv3 = spu_madd( inv2, zzzz, inv3 ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( Vector3 vec ) const +{ + vec_float4 res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( vec.get128(), vec.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( vec.get128(), vec.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( vec.get128(), vec.get128(), shuffle_zzzz ); + res = spu_mul( mCol0.get128(), xxxx ); + res = spu_madd( mCol1.get128(), yyyy, res ); + res = spu_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +inline const Point3 Transform3::operator *( Point3 pnt ) const +{ + vec_float4 tmp0, tmp1, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + xxxx = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_xxxx ); + yyyy = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_yyyy ); + zzzz = spu_shuffle( pnt.get128(), pnt.get128(), shuffle_zzzz ); + tmp0 = spu_mul( mCol0.get128(), xxxx ); + tmp1 = spu_mul( mCol1.get128(), yyyy ); + tmp0 = spu_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = spu_add( mCol3.get128(), tmp1 ); + res = spu_add( tmp0, tmp1 ); + return Point3( res ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( Vector3 translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + vec_float4 s, c, res1, res2; + vec_uint4 select_y, select_z; + vec_float4 zero; + select_y = (vec_uint4)spu_maskb(0x0f00); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res1 = spu_sel( zero, c, select_y ); + res1 = spu_sel( res1, s, select_z ); + res2 = spu_sel( zero, negatef4(s), select_y ); + res2 = spu_sel( res2, c, select_z ); + return Transform3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + vec_float4 s, c, res0, res2; + vec_uint4 select_x, select_z; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_z = (vec_uint4)spu_maskb(0x00f0); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, negatef4(s), select_z ); + res2 = spu_sel( zero, s, select_x ); + res2 = spu_sel( res2, c, select_z ); + return Transform3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + vec_float4 s, c, res0, res1; + vec_uint4 select_x, select_y; + vec_float4 zero; + select_x = (vec_uint4)spu_maskb(0xf000); + select_y = (vec_uint4)spu_maskb(0x0f00); + zero = spu_splats(0.0f); + sincosf4( spu_splats(radians), &s, &c ); + res0 = spu_sel( zero, c, select_x ); + res0 = spu_sel( res0, s, select_y ); + res1 = spu_sel( zero, negatef4(s), select_x ); + res1 = spu_sel( res1, c, select_y ); + return Transform3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( Vector3 radiansXYZ ) +{ + vec_float4 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((int)0x00010203); + angles = radiansXYZ.get128(); + angles = spu_insert( 0.0f, angles, 3 ); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = spu_shuffle( s, c, _VECTORMATH_SHUF_CZD0 ); + Z1 = spu_shuffle( c, negS, _VECTORMATH_SHUF_CZD0 ); + Y0 = spu_shuffle( negS, c, _VECTORMATH_SHUF_BBY0 ); + Y1 = spu_shuffle( c, s, _VECTORMATH_SHUF_BBY0 ); + X0 = spu_shuffle( s, s, shuffle_xxxx ); + X1 = spu_shuffle( c, c, shuffle_xxxx ); + tmp = spu_mul( Z0, Y1 ); + return Transform3( + Vector3( spu_mul( Z0, Y0 ) ), + Vector3( spu_madd( Z1, X1, spu_mul( tmp, X0 ) ) ), + Vector3( spu_nmsub( Z1, X0, spu_mul( tmp, X1 ) ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, Vector3 unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( Quat unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( Vector3 scaleVec ) +{ + vec_float4 zero = spu_splats(0.0f); + return Transform3( + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0xf000) ) ), + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x0f00) ) ), + Vector3( spu_sel( zero, scaleVec.get128(), (vec_uint4)spu_maskb(0x00f0) ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, Vector3 scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( Vector3 scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( Vector3 translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + vec_float4 res; + vec_float4 col0, col1, col2; + vec_float4 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + vec_float4 zy_xz_yx, yz_zx_xy, sum, diff; + vec_float4 radicand, invSqrt, scale; + vec_float4 res0, res1, res2, res3; + vec_float4 xx, yy, zz; + vec_uint4 select_x = (vec_uint4)spu_maskb( 0xf000 ); + vec_uint4 select_y = (vec_uint4)spu_maskb( 0x0f00 ); + vec_uint4 select_z = (vec_uint4)spu_maskb( 0x00f0 ); + vec_uint4 select_w = (vec_uint4)spu_maskb( 0x000f ); + vec_uchar16 shuffle_xxxx = (vec_uchar16)spu_splats((unsigned int)0x00010203); + vec_uchar16 shuffle_yyyy = (vec_uchar16)spu_splats((unsigned int)0x04050607); + vec_uchar16 shuffle_zzzz = (vec_uchar16)spu_splats((unsigned int)0x08090a0b); + vec_uchar16 shuffle_wwww = (vec_uchar16)spu_splats((unsigned int)0x0c0d0e0f); + + col0 = tfrm.getCol0().get128(); + col1 = tfrm.getCol1().get128(); + col2 = tfrm.getCol2().get128(); + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = spu_sel( col0, col1, select_y ); + xx_yy_zz_xx = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_XYCX ); + yy_zz_xx_yy = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_YCXY ); + zz_xx_yy_zz = spu_shuffle( xx_yy, col2, _VECTORMATH_SHUF_CXYC ); + + diagSum = spu_add( spu_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = spu_sub( spu_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = spu_add( spu_sel( diagDiff, diagSum, select_w ), spu_splats(1.0f) ); + invSqrt = rsqrtf4( radicand ); + + zy_xz_yx = spu_sel( col0, col1, select_z ); + zy_xz_yx = spu_shuffle( zy_xz_yx, col2, _VECTORMATH_SHUF_ZAY0 ); + yz_zx_xy = spu_sel( col0, col1, select_x ); + yz_zx_xy = spu_shuffle( yz_zx_xy, col2, _VECTORMATH_SHUF_BZX0 ); + + sum = spu_add( zy_xz_yx, yz_zx_xy ); + diff = spu_sub( zy_xz_yx, yz_zx_xy ); + + scale = spu_mul( invSqrt, spu_splats(0.5f) ); + res0 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_0ZYA ); + res1 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_Z0XB ); + res2 = spu_shuffle( sum, diff, _VECTORMATH_SHUF_YX0C ); + res3 = diff; + res0 = spu_sel( res0, radicand, select_x ); + res1 = spu_sel( res1, radicand, select_y ); + res2 = spu_sel( res2, radicand, select_z ); + res3 = spu_sel( res3, radicand, select_w ); + res0 = spu_mul( res0, spu_shuffle( scale, scale, shuffle_xxxx ) ); + res1 = spu_mul( res1, spu_shuffle( scale, scale, shuffle_yyyy ) ); + res2 = spu_mul( res2, spu_shuffle( scale, scale, shuffle_zzzz ) ); + res3 = spu_mul( res3, spu_shuffle( scale, scale, shuffle_wwww ) ); + + /* determine case and select answer */ + + xx = spu_shuffle( col0, col0, shuffle_xxxx ); + yy = spu_shuffle( col1, col1, shuffle_yyyy ); + zz = spu_shuffle( col2, col2, shuffle_zzzz ); + res = spu_sel( res0, res1, spu_cmpgt( yy, xx ) ); + res = spu_sel( res, res2, spu_and( spu_cmpgt( zz, xx ), spu_cmpgt( zz, yy ) ) ); + res = spu_sel( res, res3, spu_cmpgt( spu_shuffle( diagSum, diagSum, shuffle_xxxx ), spu_splats(0.0f) ) ); + mVec128 = res; +} + +inline const Matrix3 outer( Vector3 tfrm0, Vector3 tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( Vector4 tfrm0, Vector4 tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( Vector3 vec, const Matrix3 & mat ) +{ + vec_float4 tmp0, tmp1, mcol0, mcol1, mcol2, res; + vec_float4 xxxx, yyyy, zzzz; + 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); + tmp0 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mat.getCol0().get128(), mat.getCol2().get128(), _VECTORMATH_SHUF_ZCWD ); + xxxx = spu_shuffle( vec.get128(), vec.get128(), shuffle_xxxx ); + mcol0 = spu_shuffle( tmp0, mat.getCol1().get128(), _VECTORMATH_SHUF_XAYB ); + mcol1 = spu_shuffle( tmp0, mat.getCol1().get128(), _VECTORMATH_SHUF_ZBW0 ); + mcol2 = spu_shuffle( tmp1, mat.getCol1().get128(), _VECTORMATH_SHUF_XCY0 ); + yyyy = spu_shuffle( vec.get128(), vec.get128(), shuffle_yyyy ); + res = spu_mul( mcol0, xxxx ); + zzzz = spu_shuffle( vec.get128(), vec.get128(), shuffle_zzzz ); + res = spu_madd( mcol1, yyyy, res ); + res = spu_madd( mcol2, zzzz, res ); + return Vector3( res ); +} + +inline const Matrix3 crossMatrix( Vector3 vec ) +{ + vec_float4 neg, res0, res1, res2; + neg = negatef4( vec.get128() ); + res0 = spu_shuffle( vec.get128(), neg, _VECTORMATH_SHUF_0ZB0 ); + res1 = spu_shuffle( vec.get128(), neg, _VECTORMATH_SHUF_C0X0 ); + res2 = spu_shuffle( vec.get128(), neg, _VECTORMATH_SHUF_YA00 ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +inline const Matrix3 crossMatrixMul( Vector3 vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_soa.h new file mode 100644 index 000000000..8c884d593 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/mat_soa.h @@ -0,0 +1,1744 @@ +/* + 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_MAT_SOA_CPP_H +#define _VECTORMATH_MAT_SOA_CPP_H + +namespace Vectormath { +namespace Soa { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( vec_float4 scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + vec_float4 qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = spu_add( qx, qx ); + qy2 = spu_add( qy, qy ); + qz2 = spu_add( qz, qz ); + qxqx2 = spu_mul( qx, qx2 ); + qxqy2 = spu_mul( qx, qy2 ); + qxqz2 = spu_mul( qx, qz2 ); + qxqw2 = spu_mul( qw, qx2 ); + qyqy2 = spu_mul( qy, qy2 ); + qyqz2 = spu_mul( qy, qz2 ); + qyqw2 = spu_mul( qw, qy2 ); + qzqz2 = spu_mul( qz, qz2 ); + qzqw2 = spu_mul( qw, qz2 ); + mCol0 = Vector3( spu_sub( spu_sub( spu_splats(1.0f), qyqy2 ), qzqz2 ), spu_add( qxqy2, qzqw2 ), spu_sub( qxqz2, qyqw2 ) ); + mCol1 = Vector3( spu_sub( qxqy2, qzqw2 ), spu_sub( spu_sub( spu_splats(1.0f), qxqx2 ), qzqz2 ), spu_add( qyqz2, qxqw2 ) ); + mCol2 = Vector3( spu_add( qxqz2, qyqw2 ), spu_sub( qyqz2, qxqw2 ), spu_sub( spu_sub( spu_splats(1.0f), qxqx2 ), qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3::Matrix3( const Aos::Matrix3 & mat ) +{ + mCol0 = Vector3( mat.getCol0() ); + mCol1 = Vector3( mat.getCol1() ); + mCol2 = Vector3( mat.getCol2() ); +} + +inline Matrix3::Matrix3( const Aos::Matrix3 & mat0, const Aos::Matrix3 & mat1, const Aos::Matrix3 & mat2, const Aos::Matrix3 & mat3 ) +{ + mCol0 = Vector3( mat0.getCol0(), mat1.getCol0(), mat2.getCol0(), mat3.getCol0() ); + mCol1 = Vector3( mat0.getCol1(), mat1.getCol1(), mat2.getCol1(), mat3.getCol1() ); + mCol2 = Vector3( mat0.getCol2(), mat1.getCol2(), mat2.getCol2(), mat3.getCol2() ); +} + +inline void Matrix3::get4Aos( Aos::Matrix3 & result0, Aos::Matrix3 & result1, Aos::Matrix3 & result2, Aos::Matrix3 & result3 ) const +{ + Aos::Vector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + mCol0.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol0( tmpV3_0 ); + result1.setCol0( tmpV3_1 ); + result2.setCol0( tmpV3_2 ); + result3.setCol0( tmpV3_3 ); + mCol1.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol1( tmpV3_0 ); + result1.setCol1( tmpV3_1 ); + result2.setCol1( tmpV3_2 ); + result3.setCol1( tmpV3_3 ); + mCol2.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol2( tmpV3_0 ); + result1.setCol2( tmpV3_1 ); + result2.setCol2( tmpV3_2 ); + result3.setCol2( tmpV3_3 ); +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, vec_float4 val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + vec_float4 detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = recipf4( dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( spu_mul( tmp0.getX(), detinv ), spu_mul( tmp1.getX(), detinv ), spu_mul( tmp2.getX(), detinv ) ), + Vector3( spu_mul( tmp0.getY(), detinv ), spu_mul( tmp1.getY(), detinv ), spu_mul( tmp2.getY(), detinv ) ), + Vector3( spu_mul( tmp0.getZ(), detinv ), spu_mul( tmp1.getZ(), detinv ), spu_mul( tmp2.getZ(), detinv ) ) + ); +} + +inline vec_float4 determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( vec_float4 scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( vec_float4 scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + spu_add( spu_add( spu_mul( mCol0.getX(), vec.getX() ), spu_mul( mCol1.getX(), vec.getY() ) ), spu_mul( mCol2.getX(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getY(), vec.getX() ), spu_mul( mCol1.getY(), vec.getY() ) ), spu_mul( mCol2.getY(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getZ(), vec.getX() ), spu_mul( mCol1.getZ(), vec.getY() ) ), spu_mul( mCol2.getZ(), vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3::xAxis( ), + Vector3( spu_splats(0.0f), c, s ), + Vector3( spu_splats(0.0f), negatef4( s ), c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3( c, spu_splats(0.0f), negatef4( s ) ), + Vector3::yAxis( ), + Vector3( s, spu_splats(0.0f), c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix3( + Vector3( c, s, spu_splats(0.0f) ), + Vector3( negatef4( s ), c, spu_splats(0.0f) ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + return Matrix3( + Vector3( spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ) ), + Vector3( spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ) ), + Vector3( spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = spu_mul( x, y ); + yz = spu_mul( y, z ); + zx = spu_mul( z, x ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + return Matrix3( + Vector3( spu_add( spu_mul( spu_mul( x, x ), oneMinusC ), c ), spu_add( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_sub( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ) ), + Vector3( spu_sub( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_add( spu_mul( spu_mul( y, y ), oneMinusC ), c ), spu_add( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ) ), + Vector3( spu_add( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_sub( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_add( spu_mul( spu_mul( z, z ), oneMinusC ), c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), spu_splats(0.0f), spu_splats(0.0f) ), + Vector3( spu_splats(0.0f), scaleVec.getY(), spu_splats(0.0f) ), + Vector3( spu_splats(0.0f), spu_splats(0.0f), scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, vec_uint4 select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + Aos::Matrix3 mat0, mat1, mat2, mat3; + mat.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( vec_float4 scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), spu_splats(0.0f) ); + mCol1 = Vector4( mat.getCol1(), spu_splats(0.0f) ); + mCol2 = Vector4( mat.getCol2(), spu_splats(0.0f) ); + mCol3 = Vector4( mat.getCol3(), spu_splats(1.0f) ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), spu_splats(0.0f) ); + mCol1 = Vector4( mat.getCol1(), spu_splats(0.0f) ); + mCol2 = Vector4( mat.getCol2(), spu_splats(0.0f) ); + mCol3 = Vector4( translateVec, spu_splats(1.0f) ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), spu_splats(0.0f) ); + mCol1 = Vector4( mat.getCol1(), spu_splats(0.0f) ); + mCol2 = Vector4( mat.getCol2(), spu_splats(0.0f) ); + mCol3 = Vector4( translateVec, spu_splats(1.0f) ); +} + +inline Matrix4::Matrix4( const Aos::Matrix4 & mat ) +{ + mCol0 = Vector4( mat.getCol0() ); + mCol1 = Vector4( mat.getCol1() ); + mCol2 = Vector4( mat.getCol2() ); + mCol3 = Vector4( mat.getCol3() ); +} + +inline Matrix4::Matrix4( const Aos::Matrix4 & mat0, const Aos::Matrix4 & mat1, const Aos::Matrix4 & mat2, const Aos::Matrix4 & mat3 ) +{ + mCol0 = Vector4( mat0.getCol0(), mat1.getCol0(), mat2.getCol0(), mat3.getCol0() ); + mCol1 = Vector4( mat0.getCol1(), mat1.getCol1(), mat2.getCol1(), mat3.getCol1() ); + mCol2 = Vector4( mat0.getCol2(), mat1.getCol2(), mat2.getCol2(), mat3.getCol2() ); + mCol3 = Vector4( mat0.getCol3(), mat1.getCol3(), mat2.getCol3(), mat3.getCol3() ); +} + +inline void Matrix4::get4Aos( Aos::Matrix4 & result0, Aos::Matrix4 & result1, Aos::Matrix4 & result2, Aos::Matrix4 & result3 ) const +{ + Aos::Vector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3; + mCol0.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol0( tmpV4_0 ); + result1.setCol0( tmpV4_1 ); + result2.setCol0( tmpV4_2 ); + result3.setCol0( tmpV4_3 ); + mCol1.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol1( tmpV4_0 ); + result1.setCol1( tmpV4_1 ); + result2.setCol1( tmpV4_2 ); + result3.setCol1( tmpV4_3 ); + mCol2.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol2( tmpV4_0 ); + result1.setCol2( tmpV4_1 ); + result2.setCol2( tmpV4_2 ); + result3.setCol2( tmpV4_3 ); + mCol3.get4Aos( tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3 ); + result0.setCol3( tmpV4_0 ); + result1.setCol3( tmpV4_1 ); + result2.setCol3( tmpV4_2 ); + result3.setCol3( tmpV4_3 ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, vec_float4 val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + vec_float4 mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = spu_sub( spu_mul( mK, mD ), spu_mul( mC, mL ) ); + tmp1 = spu_sub( spu_mul( mO, mH ), spu_mul( mG, mP ) ); + tmp2 = spu_sub( spu_mul( mB, mK ), spu_mul( mJ, mC ) ); + tmp3 = spu_sub( spu_mul( mF, mO ), spu_mul( mN, mG ) ); + tmp4 = spu_sub( spu_mul( mJ, mD ), spu_mul( mB, mL ) ); + tmp5 = spu_sub( spu_mul( mN, mH ), spu_mul( mF, mP ) ); + res0.setX( spu_sub( spu_sub( spu_mul( mJ, tmp1 ), spu_mul( mL, tmp3 ) ), spu_mul( mK, tmp5 ) ) ); + res0.setY( spu_sub( spu_sub( spu_mul( mN, tmp0 ), spu_mul( mP, tmp2 ) ), spu_mul( mO, tmp4 ) ) ); + res0.setZ( spu_sub( spu_add( spu_mul( mD, tmp3 ), spu_mul( mC, tmp5 ) ), spu_mul( mB, tmp1 ) ) ); + res0.setW( spu_sub( spu_add( spu_mul( mH, tmp2 ), spu_mul( mG, tmp4 ) ), spu_mul( mF, tmp0 ) ) ); + detInv = recipf4( spu_add( spu_add( spu_add( spu_mul( mA, res0.getX() ), spu_mul( mE, res0.getY() ) ), spu_mul( mI, res0.getZ() ) ), spu_mul( mM, res0.getW() ) ) ); + res1.setX( spu_mul( mI, tmp1 ) ); + res1.setY( spu_mul( mM, tmp0 ) ); + res1.setZ( spu_mul( mA, tmp1 ) ); + res1.setW( spu_mul( mE, tmp0 ) ); + res3.setX( spu_mul( mI, tmp3 ) ); + res3.setY( spu_mul( mM, tmp2 ) ); + res3.setZ( spu_mul( mA, tmp3 ) ); + res3.setW( spu_mul( mE, tmp2 ) ); + res2.setX( spu_mul( mI, tmp5 ) ); + res2.setY( spu_mul( mM, tmp4 ) ); + res2.setZ( spu_mul( mA, tmp5 ) ); + res2.setW( spu_mul( mE, tmp4 ) ); + tmp0 = spu_sub( spu_mul( mI, mB ), spu_mul( mA, mJ ) ); + tmp1 = spu_sub( spu_mul( mM, mF ), spu_mul( mE, mN ) ); + tmp2 = spu_sub( spu_mul( mI, mD ), spu_mul( mA, mL ) ); + tmp3 = spu_sub( spu_mul( mM, mH ), spu_mul( mE, mP ) ); + tmp4 = spu_sub( spu_mul( mI, mC ), spu_mul( mA, mK ) ); + tmp5 = spu_sub( spu_mul( mM, mG ), spu_mul( mE, mO ) ); + res2.setX( spu_add( spu_sub( spu_mul( mL, tmp1 ), spu_mul( mJ, tmp3 ) ), res2.getX() ) ); + res2.setY( spu_add( spu_sub( spu_mul( mP, tmp0 ), spu_mul( mN, tmp2 ) ), res2.getY() ) ); + res2.setZ( spu_sub( spu_sub( spu_mul( mB, tmp3 ), spu_mul( mD, tmp1 ) ), res2.getZ() ) ); + res2.setW( spu_sub( spu_sub( spu_mul( mF, tmp2 ), spu_mul( mH, tmp0 ) ), res2.getW() ) ); + res3.setX( spu_add( spu_sub( spu_mul( mJ, tmp5 ), spu_mul( mK, tmp1 ) ), res3.getX() ) ); + res3.setY( spu_add( spu_sub( spu_mul( mN, tmp4 ), spu_mul( mO, tmp0 ) ), res3.getY() ) ); + res3.setZ( spu_sub( spu_sub( spu_mul( mC, tmp1 ), spu_mul( mB, tmp5 ) ), res3.getZ() ) ); + res3.setW( spu_sub( spu_sub( spu_mul( mG, tmp0 ), spu_mul( mF, tmp4 ) ), res3.getW() ) ); + res1.setX( spu_sub( spu_sub( spu_mul( mK, tmp3 ), spu_mul( mL, tmp5 ) ), res1.getX() ) ); + res1.setY( spu_sub( spu_sub( spu_mul( mO, tmp2 ), spu_mul( mP, tmp4 ) ), res1.getY() ) ); + res1.setZ( spu_add( spu_sub( spu_mul( mD, tmp5 ), spu_mul( mC, tmp3 ) ), res1.getZ() ) ); + res1.setW( spu_add( spu_sub( spu_mul( mH, tmp4 ), spu_mul( mG, tmp2 ) ), res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline vec_float4 determinant( const Matrix4 & mat ) +{ + vec_float4 dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = spu_sub( spu_mul( mK, mD ), spu_mul( mC, mL ) ); + tmp1 = spu_sub( spu_mul( mO, mH ), spu_mul( mG, mP ) ); + tmp2 = spu_sub( spu_mul( mB, mK ), spu_mul( mJ, mC ) ); + tmp3 = spu_sub( spu_mul( mF, mO ), spu_mul( mN, mG ) ); + tmp4 = spu_sub( spu_mul( mJ, mD ), spu_mul( mB, mL ) ); + tmp5 = spu_sub( spu_mul( mN, mH ), spu_mul( mF, mP ) ); + dx = spu_sub( spu_sub( spu_mul( mJ, tmp1 ), spu_mul( mL, tmp3 ) ), spu_mul( mK, tmp5 ) ); + dy = spu_sub( spu_sub( spu_mul( mN, tmp0 ), spu_mul( mP, tmp2 ) ), spu_mul( mO, tmp4 ) ); + dz = spu_sub( spu_add( spu_mul( mD, tmp3 ), spu_mul( mC, tmp5 ) ), spu_mul( mB, tmp1 ) ); + dw = spu_sub( spu_add( spu_mul( mH, tmp2 ), spu_mul( mG, tmp4 ) ), spu_mul( mF, tmp0 ) ); + return spu_add( spu_add( spu_add( spu_mul( mA, dx ), spu_mul( mE, dy ) ), spu_mul( mI, dz ) ), spu_mul( mM, dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( vec_float4 scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( vec_float4 scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + spu_add( spu_add( spu_add( spu_mul( mCol0.getX(), vec.getX() ), spu_mul( mCol1.getX(), vec.getY() ) ), spu_mul( mCol2.getX(), vec.getZ() ) ), spu_mul( mCol3.getX(), vec.getW() ) ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getY(), vec.getX() ), spu_mul( mCol1.getY(), vec.getY() ) ), spu_mul( mCol2.getY(), vec.getZ() ) ), spu_mul( mCol3.getY(), vec.getW() ) ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getZ(), vec.getX() ), spu_mul( mCol1.getZ(), vec.getY() ) ), spu_mul( mCol2.getZ(), vec.getZ() ) ), spu_mul( mCol3.getZ(), vec.getW() ) ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getW(), vec.getX() ), spu_mul( mCol1.getW(), vec.getY() ) ), spu_mul( mCol2.getW(), vec.getZ() ) ), spu_mul( mCol3.getW(), vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + spu_add( spu_add( spu_mul( mCol0.getX(), vec.getX() ), spu_mul( mCol1.getX(), vec.getY() ) ), spu_mul( mCol2.getX(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getY(), vec.getX() ), spu_mul( mCol1.getY(), vec.getY() ) ), spu_mul( mCol2.getY(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getZ(), vec.getX() ), spu_mul( mCol1.getZ(), vec.getY() ) ), spu_mul( mCol2.getZ(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getW(), vec.getX() ), spu_mul( mCol1.getW(), vec.getY() ) ), spu_mul( mCol2.getW(), vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + spu_add( spu_add( spu_add( spu_mul( mCol0.getX(), pnt.getX() ), spu_mul( mCol1.getX(), pnt.getY() ) ), spu_mul( mCol2.getX(), pnt.getZ() ) ), mCol3.getX() ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getY(), pnt.getX() ), spu_mul( mCol1.getY(), pnt.getY() ) ), spu_mul( mCol2.getY(), pnt.getZ() ) ), mCol3.getY() ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getZ(), pnt.getX() ), spu_mul( mCol1.getZ(), pnt.getY() ) ), spu_mul( mCol2.getZ(), pnt.getZ() ) ), mCol3.getZ() ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getW(), pnt.getX() ), spu_mul( mCol1.getW(), pnt.getY() ) ), spu_mul( mCol2.getW(), pnt.getZ() ) ), mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4::xAxis( ), + Vector4( spu_splats(0.0f), c, s, spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), negatef4( s ), c, spu_splats(0.0f) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4( c, spu_splats(0.0f), negatef4( s ), spu_splats(0.0f) ), + Vector4::yAxis( ), + Vector4( s, spu_splats(0.0f), c, spu_splats(0.0f) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Matrix4( + Vector4( c, s, spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( negatef4( s ), c, spu_splats(0.0f), spu_splats(0.0f) ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + return Matrix4( + Vector4( spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ), spu_splats(0.0f) ), + Vector4( spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ), spu_splats(0.0f) ), + Vector4( spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ), spu_splats(0.0f) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + vec_float4 x, y, z, s, c, oneMinusC, xy, yz, zx; + sincosf4( radians, &s, &c ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = spu_mul( x, y ); + yz = spu_mul( y, z ); + zx = spu_mul( z, x ); + oneMinusC = spu_sub( spu_splats(1.0f), c ); + return Matrix4( + Vector4( spu_add( spu_mul( spu_mul( x, x ), oneMinusC ), c ), spu_add( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_sub( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_splats(0.0f) ), + Vector4( spu_sub( spu_mul( xy, oneMinusC ), spu_mul( z, s ) ), spu_add( spu_mul( spu_mul( y, y ), oneMinusC ), c ), spu_add( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_splats(0.0f) ), + Vector4( spu_add( spu_mul( zx, oneMinusC ), spu_mul( y, s ) ), spu_sub( spu_mul( yz, oneMinusC ), spu_mul( x, s ) ), spu_add( spu_mul( spu_mul( z, z ), oneMinusC ), c ), spu_splats(0.0f) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), scaleVec.getY(), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), spu_splats(0.0f), scaleVec.getZ(), spu_splats(0.0f) ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, spu_splats(1.0f) ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, spu_splats(1.0f) ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 f, rangeInv; + f = tanf4( spu_sub( spu_splats( _VECTORMATH_PI_OVER_2 ), spu_mul( spu_splats(0.5f), fovyRadians ) ) ); + rangeInv = recipf4( spu_sub( zNear, zFar ) ); + return Matrix4( + Vector4( divf4( f, aspect ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), f, spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_add( zNear, zFar ), rangeInv ), spu_splats(-1.0f) ), + Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_mul( spu_mul( zNear, zFar ), rangeInv ), spu_splats(2.0f) ), spu_splats(0.0f) ) + ); +} + +inline const Matrix4 Matrix4::frustum( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = spu_add( right, left ); + sum_tb = spu_add( top, bottom ); + sum_nf = spu_add( zNear, zFar ); + inv_rl = recipf4( spu_sub( right, left ) ); + inv_tb = recipf4( spu_sub( top, bottom ) ); + inv_nf = recipf4( spu_sub( zNear, zFar ) ); + n2 = spu_add( zNear, zNear ); + return Matrix4( + Vector4( spu_mul( n2, inv_rl ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), spu_mul( n2, inv_tb ), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_mul( sum_rl, inv_rl ), spu_mul( sum_tb, inv_tb ), spu_mul( sum_nf, inv_nf ), spu_splats(-1.0f) ), + Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_mul( spu_mul( n2, inv_nf ), zFar ), spu_splats(0.0f) ) + ); +} + +inline const Matrix4 Matrix4::orthographic( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ) +{ + vec_float4 sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = spu_add( right, left ); + sum_tb = spu_add( top, bottom ); + sum_nf = spu_add( zNear, zFar ); + inv_rl = recipf4( spu_sub( right, left ) ); + inv_tb = recipf4( spu_sub( top, bottom ) ); + inv_nf = recipf4( spu_sub( zNear, zFar ) ); + return Matrix4( + Vector4( spu_add( inv_rl, inv_rl ), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), spu_add( inv_tb, inv_tb ), spu_splats(0.0f), spu_splats(0.0f) ), + Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_add( inv_nf, inv_nf ), spu_splats(0.0f) ), + Vector4( spu_mul( negatef4( sum_rl ), inv_rl ), spu_mul( negatef4( sum_tb ), inv_tb ), spu_mul( sum_nf, inv_nf ), spu_splats(1.0f) ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, vec_uint4 select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + Aos::Matrix4 mat0, mat1, mat2, mat3; + mat.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( vec_float4 scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Aos::Transform3 & tfrm ) +{ + mCol0 = Vector3( tfrm.getCol0() ); + mCol1 = Vector3( tfrm.getCol1() ); + mCol2 = Vector3( tfrm.getCol2() ); + mCol3 = Vector3( tfrm.getCol3() ); +} + +inline Transform3::Transform3( const Aos::Transform3 & tfrm0, const Aos::Transform3 & tfrm1, const Aos::Transform3 & tfrm2, const Aos::Transform3 & tfrm3 ) +{ + mCol0 = Vector3( tfrm0.getCol0(), tfrm1.getCol0(), tfrm2.getCol0(), tfrm3.getCol0() ); + mCol1 = Vector3( tfrm0.getCol1(), tfrm1.getCol1(), tfrm2.getCol1(), tfrm3.getCol1() ); + mCol2 = Vector3( tfrm0.getCol2(), tfrm1.getCol2(), tfrm2.getCol2(), tfrm3.getCol2() ); + mCol3 = Vector3( tfrm0.getCol3(), tfrm1.getCol3(), tfrm2.getCol3(), tfrm3.getCol3() ); +} + +inline void Transform3::get4Aos( Aos::Transform3 & result0, Aos::Transform3 & result1, Aos::Transform3 & result2, Aos::Transform3 & result3 ) const +{ + Aos::Vector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3; + mCol0.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol0( tmpV3_0 ); + result1.setCol0( tmpV3_1 ); + result2.setCol0( tmpV3_2 ); + result3.setCol0( tmpV3_3 ); + mCol1.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol1( tmpV3_0 ); + result1.setCol1( tmpV3_1 ); + result2.setCol1( tmpV3_2 ); + result3.setCol1( tmpV3_3 ); + mCol2.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol2( tmpV3_0 ); + result1.setCol2( tmpV3_1 ); + result2.setCol2( tmpV3_2 ); + result3.setCol2( tmpV3_3 ); + mCol3.get4Aos( tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3 ); + result0.setCol3( tmpV3_0 ); + result1.setCol3( tmpV3_1 ); + result2.setCol3( tmpV3_2 ); + result3.setCol3( tmpV3_3 ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, vec_float4 val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline vec_float4 Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + vec_float4 detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = recipf4( dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( spu_mul( tmp0.getX(), detinv ), spu_mul( tmp1.getX(), detinv ), spu_mul( tmp2.getX(), detinv ) ); + inv1 = Vector3( spu_mul( tmp0.getY(), detinv ), spu_mul( tmp1.getY(), detinv ), spu_mul( tmp2.getY(), detinv ) ); + inv2 = Vector3( spu_mul( tmp0.getZ(), detinv ), spu_mul( tmp1.getZ(), detinv ), spu_mul( tmp2.getZ(), detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + spu_add( spu_add( spu_mul( mCol0.getX(), vec.getX() ), spu_mul( mCol1.getX(), vec.getY() ) ), spu_mul( mCol2.getX(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getY(), vec.getX() ), spu_mul( mCol1.getY(), vec.getY() ) ), spu_mul( mCol2.getY(), vec.getZ() ) ), + spu_add( spu_add( spu_mul( mCol0.getZ(), vec.getX() ), spu_mul( mCol1.getZ(), vec.getY() ) ), spu_mul( mCol2.getZ(), vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + spu_add( spu_add( spu_add( spu_mul( mCol0.getX(), pnt.getX() ), spu_mul( mCol1.getX(), pnt.getY() ) ), spu_mul( mCol2.getX(), pnt.getZ() ) ), mCol3.getX() ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getY(), pnt.getX() ), spu_mul( mCol1.getY(), pnt.getY() ) ), spu_mul( mCol2.getY(), pnt.getZ() ) ), mCol3.getY() ), + spu_add( spu_add( spu_add( spu_mul( mCol0.getZ(), pnt.getX() ), spu_mul( mCol1.getZ(), pnt.getY() ) ), spu_mul( mCol2.getZ(), pnt.getZ() ) ), mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3::xAxis( ), + Vector3( spu_splats(0.0f), c, s ), + Vector3( spu_splats(0.0f), negatef4( s ), c ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline const Transform3 Transform3::rotationY( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3( c, spu_splats(0.0f), negatef4( s ) ), + Vector3::yAxis( ), + Vector3( s, spu_splats(0.0f), c ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline const Transform3 Transform3::rotationZ( vec_float4 radians ) +{ + vec_float4 s, c; + sincosf4( radians, &s, &c ); + return Transform3( + Vector3( c, s, spu_splats(0.0f) ), + Vector3( negatef4( s ), c, spu_splats(0.0f) ), + Vector3::zAxis( ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + vec_float4 sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sincosf4( radiansXYZ.getX(), &sX, &cX ); + sincosf4( radiansXYZ.getY(), &sY, &cY ); + sincosf4( radiansXYZ.getZ(), &sZ, &cZ ); + tmp0 = spu_mul( cZ, sY ); + tmp1 = spu_mul( sZ, sY ); + return Transform3( + Vector3( spu_mul( cZ, cY ), spu_mul( sZ, cY ), negatef4( sY ) ), + Vector3( spu_sub( spu_mul( tmp0, sX ), spu_mul( sZ, cX ) ), spu_add( spu_mul( tmp1, sX ), spu_mul( cZ, cX ) ), spu_mul( cY, sX ) ), + Vector3( spu_add( spu_mul( tmp0, cX ), spu_mul( sZ, sX ) ), spu_sub( spu_mul( tmp1, cX ), spu_mul( cZ, sX ) ), spu_mul( cY, cX ) ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline const Transform3 Transform3::rotation( vec_float4 radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( spu_splats(0.0f) ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( spu_splats(0.0f) ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), spu_splats(0.0f), spu_splats(0.0f) ), + Vector3( spu_splats(0.0f), scaleVec.getY(), spu_splats(0.0f) ), + Vector3( spu_splats(0.0f), spu_splats(0.0f), scaleVec.getZ() ), + Vector3( spu_splats(0.0f) ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, vec_uint4 select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + Aos::Transform3 mat0, mat1, mat2, mat3; + tfrm.get4Aos( mat0, mat1, mat2, mat3 ); + printf("slot 0:\n"); + print( mat0 ); + printf("slot 1:\n"); + print( mat1 ); + printf("slot 2:\n"); + print( mat2 ); + printf("slot 3:\n"); + print( mat3 ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + vec_float4 trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + vec_uint4 negTrace, ZgtX, ZgtY, YgtX; + vec_uint4 largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = spu_add( spu_add( xx, yy ), zz ); + + negTrace = spu_cmpgt( spu_splats(0.0f), trace ); + ZgtX = spu_cmpgt( zz, xx ); + ZgtY = spu_cmpgt( zz, yy ); + YgtX = spu_cmpgt( yy, xx ); + largestXorY = spu_and( negTrace, spu_nand( ZgtX, ZgtY ) ); + largestYorZ = spu_and( negTrace, spu_or( YgtX, ZgtX ) ); + largestZorX = spu_and( negTrace, spu_orc( ZgtY, YgtX ) ); + + zz = spu_sel( zz, negatef4(zz), largestXorY ); + xy = spu_sel( xy, negatef4(xy), largestXorY ); + xx = spu_sel( xx, negatef4(xx), largestYorZ ); + yz = spu_sel( yz, negatef4(yz), largestYorZ ); + yy = spu_sel( yy, negatef4(yy), largestZorX ); + zx = spu_sel( zx, negatef4(zx), largestZorX ); + + radicand = spu_add( spu_add( spu_add( xx, yy ), zz ), spu_splats(1.0f) ); + scale = spu_mul( spu_splats(0.5f), rsqrtf4( radicand ) ); + + tmpx = spu_mul( spu_sub( zy, yz ), scale ); + tmpy = spu_mul( spu_sub( xz, zx ), scale ); + tmpz = spu_mul( spu_sub( yx, xy ), scale ); + tmpw = spu_mul( radicand, scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + qx = spu_sel( qx, tmpw, largestXorY ); + qy = spu_sel( qy, tmpz, largestXorY ); + qz = spu_sel( qz, tmpy, largestXorY ); + qw = spu_sel( qw, tmpx, largestXorY ); + tmpx = qx; + tmpz = qz; + qx = spu_sel( qx, qy, largestYorZ ); + qy = spu_sel( qy, tmpx, largestYorZ ); + qz = spu_sel( qz, qw, largestYorZ ); + qw = spu_sel( qw, tmpz, largestYorZ ); + + mX = qx; + mY = qy; + mZ = qz; + mW = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + spu_add( spu_add( spu_mul( vec.getX(), mat.getCol0().getX() ), spu_mul( vec.getY(), mat.getCol0().getY() ) ), spu_mul( vec.getZ(), mat.getCol0().getZ() ) ), + spu_add( spu_add( spu_mul( vec.getX(), mat.getCol1().getX() ), spu_mul( vec.getY(), mat.getCol1().getY() ) ), spu_mul( vec.getZ(), mat.getCol1().getZ() ) ), + spu_add( spu_add( spu_mul( vec.getX(), mat.getCol2().getX() ), spu_mul( vec.getY(), mat.getCol2().getY() ) ), spu_mul( vec.getZ(), mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( spu_splats(0.0f), vec.getZ(), negatef4( vec.getY() ) ), + Vector3( negatef4( vec.getZ() ), spu_splats(0.0f), vec.getX() ), + Vector3( vec.getY(), negatef4( vec.getX() ), spu_splats(0.0f) ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Soa +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_aos.h new file mode 100644 index 000000000..a41bc69aa --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_aos.h @@ -0,0 +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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_soa.h new file mode 100644 index 000000000..88c2884fa --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/quat_soa.h @@ -0,0 +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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_aos.h new file mode 100644 index 000000000..c983f1817 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_aos.h @@ -0,0 +1,1167 @@ +/* + 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_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_W } +#define _VECTORMATH_SHUF_WABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_SHUF_ZWAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A } +#define _VECTORMATH_SHUF_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B } +#define _VECTORMATH_SHUF_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_C } +#define _VECTORMATH_UNIT_1000 (vec_float4){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 (vec_float4){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 (vec_float4){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 (vec_float4){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +static inline vec_float4 _vmathVfDot3( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result ); +} + +static inline vec_float4 _vmathVfDot4( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0, vec1 ); + result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result ); + return spu_add( spu_rlqwbyte( result, 8 ), result ); +} + +static inline vec_float4 _vmathVfCross( vec_float4 vec0, vec_float4 vec1 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = spu_shuffle( vec0, vec0, _VECTORMATH_SHUF_YZXW ); + tmp1 = spu_shuffle( vec1, vec1, _VECTORMATH_SHUF_ZXYW ); + tmp2 = spu_shuffle( vec0, vec0, _VECTORMATH_SHUF_ZXYW ); + tmp3 = spu_shuffle( vec1, vec1, _VECTORMATH_SHUF_YZXW ); + result = spu_mul( tmp0, tmp1 ); + result = spu_nmsub( tmp2, tmp3, result ); + return result; +} + +static inline vec_uint4 _vmathVfToHalfFloatsUnpacked(vec_float4 v) +{ + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = spu_splats(0x00007c00u); + const vec_uint4 mergeMant = spu_splats(0x000003ffu); + const vec_uint4 mergeSign = spu_splats(0x00008000u); + + sign = spu_rlmask((vec_uint4)v, -16); + mant = spu_rlmask((vec_uint4)v, -13); + bexp = spu_and(spu_rlmask((vec_int4)v, -23), 0xff); + + notZero = spu_cmpgt(bexp, 112); + isInf = spu_cmpgt(bexp, 142); + + bexp = spu_add(bexp, -112); + bexp = spu_sl(bexp, 10); + + hfloat = spu_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = spu_sel(spu_splats(0u), hfloat, notZero); + hfloat = spu_sel(hfloat, hfloatInf, isInf); + hfloat = spu_sel(hfloat, sign, mergeSign); + + return hfloat; +} + +static inline vec_ushort8 _vmath2VfToHalfFloats(vec_float4 u, vec_float4 v) +{ + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)spu_shuffle(hfloat_u, hfloat_v, pack); +} + +#endif + +namespace Vectormath { +namespace Aos { + +inline VecIdx::operator float() const +{ + return spu_extract( ref, i ); +} + +inline float VecIdx::operator =( float scalar ) +{ + ref = spu_insert( scalar, ref, i ); + return scalar; +} + +inline float VecIdx::operator =( const VecIdx& scalar ) +{ + return *this = float(scalar); +} + +inline float VecIdx::operator *=( float scalar ) +{ + float tmp = spu_extract( ref, i ) * scalar; + ref = spu_insert( tmp, ref, i ); + return tmp; +} + +inline float VecIdx::operator /=( float scalar ) +{ + float tmp = spu_extract( ref, i ) / scalar; + ref = spu_insert( tmp, ref, i ); + return tmp; +} + +inline float VecIdx::operator +=( float scalar ) +{ + float tmp = spu_extract( ref, i ) + scalar; + ref = spu_insert( tmp, ref, i ); + return tmp; +} + +inline float VecIdx::operator -=( float scalar ) +{ + float tmp = spu_extract( ref, i ) - scalar; + ref = spu_insert( tmp, ref, i ); + return tmp; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mVec128 = (vec_float4){ _x, _y, _z, 0.0f }; +} + +inline Vector3::Vector3( Point3 pnt ) +{ + mVec128 = pnt.get128(); +} + +inline Vector3::Vector3( float scalar ) +{ + mVec128 = spu_splats( scalar ); +} + +inline Vector3::Vector3( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_1000 ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0100 ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0010 ); +} + +inline const Vector3 lerp( float t, Vector3 vec0, Vector3 vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, Vector3 unitVec0, Vector3 unitVec1 ) +{ + 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 = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx ); + 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 Vector3( spu_madd( unitVec0.get128(), scale0, spu_mul( unitVec1.get128(), scale1 ) ) ); +} + +inline vec_float4 Vector3::get128( ) const +{ + return mVec128; +} + +inline void storeXYZ( Vector3 vec, vec_float4 * quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = (vec_uint4)spu_maskb(0x000f); + dstVec = spu_sel(vec.get128(), dstVec, mask); + *quad = dstVec; +} + +inline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_WABC ); + xyz2 = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_ZWAB ); + xyz3 = spu_rlqwbyte( zxyz, 4 ); + vec0 = Vector3( xyzx ); + vec1 = Vector3( xyz1 ); + vec2 = Vector3( xyz2 ); + vec3 = Vector3( xyz3 ); +} + +inline void storeXYZArray( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = spu_shuffle( vec0.get128(), vec1.get128(), _VECTORMATH_SHUF_XYZA ); + yzxy = spu_shuffle( vec1.get128(), vec2.get128(), _VECTORMATH_SHUF_YZAB ); + zxyz = spu_shuffle( vec2.get128(), vec3.get128(), _VECTORMATH_SHUF_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4, Vector3 vec5, Vector3 vec6, Vector3 vec7, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + storeXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Vector3 & Vector3::operator =( Vector3 vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mVec128 = spu_insert( _x, mVec128, 0 ); + return *this; +} + +inline float Vector3::getX( ) const +{ + return spu_extract( mVec128, 0 ); +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mVec128 = spu_insert( _y, mVec128, 1 ); + return *this; +} + +inline float Vector3::getY( ) const +{ + return spu_extract( mVec128, 1 ); +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mVec128 = spu_insert( _z, mVec128, 2 ); + return *this; +} + +inline float Vector3::getZ( ) const +{ + return spu_extract( mVec128, 2 ); +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + mVec128 = spu_insert( value, mVec128, idx ); + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline VecIdx Vector3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline float Vector3::operator []( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline const Vector3 Vector3::operator +( Vector3 vec ) const +{ + return Vector3( spu_add( mVec128, vec.mVec128 ) ); +} + +inline const Vector3 Vector3::operator -( Vector3 vec ) const +{ + return Vector3( spu_sub( mVec128, vec.mVec128 ) ); +} + +inline const Point3 Vector3::operator +( Point3 pnt ) const +{ + return Point3( spu_add( mVec128, pnt.get128() ) ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( spu_mul( mVec128, spu_splats(scalar) ) ); +} + +inline Vector3 & Vector3::operator +=( Vector3 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( Vector3 vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( divf4( mVec128, spu_splats(scalar) ) ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( negatef4( mVec128 ) ); +} + +inline const Vector3 operator *( float scalar, Vector3 vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( spu_mul( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 divPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( divf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 recipPerElem( Vector3 vec ) +{ + return Vector3( recipf4( vec.get128() ) ); +} + +inline const Vector3 sqrtPerElem( Vector3 vec ) +{ + return Vector3( sqrtf4( vec.get128() ) ); +} + +inline const Vector3 rsqrtPerElem( Vector3 vec ) +{ + return Vector3( rsqrtf4( vec.get128() ) ); +} + +inline const Vector3 absPerElem( Vector3 vec ) +{ + return Vector3( fabsf4( vec.get128() ) ); +} + +inline const Vector3 copySignPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( copysignf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 maxPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( fmaxf4( vec0.get128(), vec1.get128() ) ); +} + +inline float maxElem( Vector3 vec ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( vec.get128(), 1 ), 0 ), vec.get128() ); + result = fmaxf4( spu_promote( spu_extract( vec.get128(), 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline const Vector3 minPerElem( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( fminf4( vec0.get128(), vec1.get128() ) ); +} + +inline float minElem( Vector3 vec ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( vec.get128(), 1 ), 0 ), vec.get128() ); + result = fminf4( spu_promote( spu_extract( vec.get128(), 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline float sum( Vector3 vec ) +{ + return + spu_extract( vec.get128(), 0 ) + + spu_extract( vec.get128(), 1 ) + + spu_extract( vec.get128(), 2 ); +} + +inline float dot( Vector3 vec0, Vector3 vec1 ) +{ + return spu_extract( _vmathVfDot3( vec0.get128(), vec1.get128() ), 0 ); +} + +inline float lengthSqr( Vector3 vec ) +{ + return spu_extract( _vmathVfDot3( vec.get128(), vec.get128() ), 0 ); +} + +inline float length( Vector3 vec ) +{ + return sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( Vector3 vec ) +{ + vec_float4 dot = _vmathVfDot3( vec.get128(), vec.get128() ); + dot = spu_shuffle( dot, dot, (vec_uchar16)spu_splats(0x00010203) ); + return Vector3( spu_mul( vec.get128(), rsqrtf4( dot ) ) ); +} + +inline const Vector3 cross( Vector3 vec0, Vector3 vec1 ) +{ + return Vector3( _vmathVfCross( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector3 select( Vector3 vec0, Vector3 vec1, bool select1 ) +{ + return Vector3( spu_sel( vec0.get128(), vec1.get128(), spu_splats( (unsigned int)-(select1 > 0) ) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Vector3 vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +inline void print( Vector3 vec, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mVec128 = (vec_float4){ _x, _y, _z, _w }; +} + +inline Vector4::Vector4( Vector3 xyz, float _w ) +{ + mVec128 = spu_shuffle( xyz.get128(), spu_promote( _w, 0 ), _VECTORMATH_SHUF_XYZA ); +} + +inline Vector4::Vector4( Vector3 vec ) +{ + mVec128 = spu_sel( vec.get128(), spu_splats(0.0f), (vec_uint4)spu_maskb(0x000f) ); +} + +inline Vector4::Vector4( Point3 pnt ) +{ + mVec128 = spu_sel( pnt.get128(), spu_splats(1.0f), (vec_uint4)spu_maskb(0x000f) ); +} + +inline Vector4::Vector4( Quat quat ) +{ + mVec128 = quat.get128(); +} + +inline Vector4::Vector4( float scalar ) +{ + mVec128 = spu_splats( scalar ); +} + +inline Vector4::Vector4( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_1000 ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0100 ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0010 ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0001 ); +} + +inline const Vector4 lerp( float t, Vector4 vec0, Vector4 vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, Vector4 unitVec0, Vector4 unitVec1 ) +{ + 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( unitVec0.get128(), unitVec1.get128() ); + cosAngle = spu_shuffle( cosAngle, cosAngle, shuffle_xxxx ); + 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 Vector4( spu_madd( unitVec0.get128(), scale0, spu_mul( unitVec1.get128(), scale1 ) ) ); +} + +inline vec_float4 Vector4::get128( ) const +{ + return mVec128; +} + +inline void storeHalfFloats( Vector4 vec0, Vector4 vec1, Vector4 vec2, Vector4 vec3, vec_ushort8 * twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0.get128(), vec1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(vec2.get128(), vec3.get128()); +} + +inline Vector4 & Vector4::operator =( Vector4 vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +inline Vector4 & Vector4::setXYZ( Vector3 vec ) +{ + mVec128 = spu_sel( vec.get128(), mVec128, (vec_uint4)spu_maskb(0x000f) ); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mVec128 = spu_insert( _x, mVec128, 0 ); + return *this; +} + +inline float Vector4::getX( ) const +{ + return spu_extract( mVec128, 0 ); +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mVec128 = spu_insert( _y, mVec128, 1 ); + return *this; +} + +inline float Vector4::getY( ) const +{ + return spu_extract( mVec128, 1 ); +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mVec128 = spu_insert( _z, mVec128, 2 ); + return *this; +} + +inline float Vector4::getZ( ) const +{ + return spu_extract( mVec128, 2 ); +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mVec128 = spu_insert( _w, mVec128, 3 ); + return *this; +} + +inline float Vector4::getW( ) const +{ + return spu_extract( mVec128, 3 ); +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + mVec128 = spu_insert( value, mVec128, idx ); + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline VecIdx Vector4::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline float Vector4::operator []( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline const Vector4 Vector4::operator +( Vector4 vec ) const +{ + return Vector4( spu_add( mVec128, vec.mVec128 ) ); +} + +inline const Vector4 Vector4::operator -( Vector4 vec ) const +{ + return Vector4( spu_sub( mVec128, vec.mVec128 ) ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( spu_mul( mVec128, spu_splats(scalar) ) ); +} + +inline Vector4 & Vector4::operator +=( Vector4 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( Vector4 vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( divf4( mVec128, spu_splats(scalar) ) ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( negatef4( mVec128 ) ); +} + +inline const Vector4 operator *( float scalar, Vector4 vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( spu_mul( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector4 divPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( divf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector4 recipPerElem( Vector4 vec ) +{ + return Vector4( recipf4( vec.get128() ) ); +} + +inline const Vector4 sqrtPerElem( Vector4 vec ) +{ + return Vector4( sqrtf4( vec.get128() ) ); +} + +inline const Vector4 rsqrtPerElem( Vector4 vec ) +{ + return Vector4( rsqrtf4( vec.get128() ) ); +} + +inline const Vector4 absPerElem( Vector4 vec ) +{ + return Vector4( fabsf4( vec.get128() ) ); +} + +inline const Vector4 copySignPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( copysignf4( vec0.get128(), vec1.get128() ) ); +} + +inline const Vector4 maxPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( fmaxf4( vec0.get128(), vec1.get128() ) ); +} + +inline float maxElem( Vector4 vec ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( vec.get128(), 1 ), 0 ), vec.get128() ); + result = fmaxf4( spu_promote( spu_extract( vec.get128(), 2 ), 0 ), result ); + result = fmaxf4( spu_promote( spu_extract( vec.get128(), 3 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline const Vector4 minPerElem( Vector4 vec0, Vector4 vec1 ) +{ + return Vector4( fminf4( vec0.get128(), vec1.get128() ) ); +} + +inline float minElem( Vector4 vec ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( vec.get128(), 1 ), 0 ), vec.get128() ); + result = fminf4( spu_promote( spu_extract( vec.get128(), 2 ), 0 ), result ); + result = fminf4( spu_promote( spu_extract( vec.get128(), 3 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline float sum( Vector4 vec ) +{ + return + spu_extract( vec.get128(), 0 ) + + spu_extract( vec.get128(), 1 ) + + spu_extract( vec.get128(), 2 ) + + spu_extract( vec.get128(), 3 ); +} + +inline float dot( Vector4 vec0, Vector4 vec1 ) +{ + return spu_extract( _vmathVfDot4( vec0.get128(), vec1.get128() ), 0 ); +} + +inline float lengthSqr( Vector4 vec ) +{ + return spu_extract( _vmathVfDot4( vec.get128(), vec.get128() ), 0 ); +} + +inline float length( Vector4 vec ) +{ + return sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( Vector4 vec ) +{ + vec_float4 dot = _vmathVfDot4( vec.get128(), vec.get128() ); + return Vector4( spu_mul( vec.get128(), rsqrtf4( dot ) ) ); +} + +inline const Vector4 select( Vector4 vec0, Vector4 vec1, bool select1 ) +{ + return Vector4( spu_sel( vec0.get128(), vec1.get128(), spu_splats( (unsigned int)-(select1 > 0) ) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Vector4 vec ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +inline void print( Vector4 vec, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mVec128 = (vec_float4){ _x, _y, _z, 0.0f }; +} + +inline Point3::Point3( Vector3 vec ) +{ + mVec128 = vec.get128(); +} + +inline Point3::Point3( float scalar ) +{ + mVec128 = spu_splats( scalar ); +} + +inline Point3::Point3( vec_float4 vf4 ) +{ + mVec128 = vf4; +} + +inline const Point3 lerp( float t, Point3 pnt0, Point3 pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline vec_float4 Point3::get128( ) const +{ + return mVec128; +} + +inline void storeXYZ( Point3 pnt, vec_float4 * quad ) +{ + vec_float4 dstVec = *quad; + vec_uint4 mask = (vec_uint4)spu_maskb(0x000f); + dstVec = spu_sel(pnt.get128(), dstVec, mask); + *quad = dstVec; +} + +inline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyz1, xyz2, xyz3; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyz1 = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_WABC ); + xyz2 = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_ZWAB ); + xyz3 = spu_rlqwbyte( zxyz, 4 ); + pnt0 = Point3( xyzx ); + pnt1 = Point3( xyz1 ); + pnt2 = Point3( xyz2 ); + pnt3 = Point3( xyz3 ); +} + +inline void storeXYZArray( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz; + xyzx = spu_shuffle( pnt0.get128(), pnt1.get128(), _VECTORMATH_SHUF_XYZA ); + yzxy = spu_shuffle( pnt1.get128(), pnt2.get128(), _VECTORMATH_SHUF_YZAB ); + zxyz = spu_shuffle( pnt2.get128(), pnt3.get128(), _VECTORMATH_SHUF_ZABC ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, Point3 pnt4, Point3 pnt5, Point3 pnt6, Point3 pnt7, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + storeXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Point3 & Point3::operator =( Point3 pnt ) +{ + mVec128 = pnt.mVec128; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mVec128 = spu_insert( _x, mVec128, 0 ); + return *this; +} + +inline float Point3::getX( ) const +{ + return spu_extract( mVec128, 0 ); +} + +inline Point3 & Point3::setY( float _y ) +{ + mVec128 = spu_insert( _y, mVec128, 1 ); + return *this; +} + +inline float Point3::getY( ) const +{ + return spu_extract( mVec128, 1 ); +} + +inline Point3 & Point3::setZ( float _z ) +{ + mVec128 = spu_insert( _z, mVec128, 2 ); + return *this; +} + +inline float Point3::getZ( ) const +{ + return spu_extract( mVec128, 2 ); +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + mVec128 = spu_insert( value, mVec128, idx ); + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline VecIdx Point3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +inline float Point3::operator []( int idx ) const +{ + return spu_extract( mVec128, idx ); +} + +inline const Vector3 Point3::operator -( Point3 pnt ) const +{ + return Vector3( spu_sub( mVec128, pnt.mVec128 ) ); +} + +inline const Point3 Point3::operator +( Vector3 vec ) const +{ + return Point3( spu_add( mVec128, vec.get128() ) ); +} + +inline const Point3 Point3::operator -( Vector3 vec ) const +{ + return Point3( spu_sub( mVec128, vec.get128() ) ); +} + +inline Point3 & Point3::operator +=( Vector3 vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( Vector3 vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( spu_mul( pnt0.get128(), pnt1.get128() ) ); +} + +inline const Point3 divPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( divf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const Point3 recipPerElem( Point3 pnt ) +{ + return Point3( recipf4( pnt.get128() ) ); +} + +inline const Point3 sqrtPerElem( Point3 pnt ) +{ + return Point3( sqrtf4( pnt.get128() ) ); +} + +inline const Point3 rsqrtPerElem( Point3 pnt ) +{ + return Point3( rsqrtf4( pnt.get128() ) ); +} + +inline const Point3 absPerElem( Point3 pnt ) +{ + return Point3( fabsf4( pnt.get128() ) ); +} + +inline const Point3 copySignPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( copysignf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline const Point3 maxPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( fmaxf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline float maxElem( Point3 pnt ) +{ + vec_float4 result; + result = fmaxf4( spu_promote( spu_extract( pnt.get128(), 1 ), 0 ), pnt.get128() ); + result = fmaxf4( spu_promote( spu_extract( pnt.get128(), 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline const Point3 minPerElem( Point3 pnt0, Point3 pnt1 ) +{ + return Point3( fminf4( pnt0.get128(), pnt1.get128() ) ); +} + +inline float minElem( Point3 pnt ) +{ + vec_float4 result; + result = fminf4( spu_promote( spu_extract( pnt.get128(), 1 ), 0 ), pnt.get128() ); + result = fminf4( spu_promote( spu_extract( pnt.get128(), 2 ), 0 ), result ); + return spu_extract( result, 0 ); +} + +inline float sum( Point3 pnt ) +{ + return + spu_extract( pnt.get128(), 0 ) + + spu_extract( pnt.get128(), 1 ) + + spu_extract( pnt.get128(), 2 ); +} + +inline const Point3 scale( Point3 pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( Point3 pnt, Vector3 scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( Point3 pnt, Vector3 unitVec ) +{ + return spu_extract( _vmathVfDot3( pnt.get128(), unitVec.get128() ), 0 ); +} + +inline float distSqrFromOrigin( Point3 pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( Point3 pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( Point3 pnt0, Point3 pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( Point3 pnt0, Point3 pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( Point3 pnt0, Point3 pnt1, bool select1 ) +{ + return Point3( spu_sel( pnt0.get128(), pnt1.get128(), spu_splats( (unsigned int)-(select1 > 0) ) ) ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( Point3 pnt ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +inline void print( Point3 pnt, const char * name ) +{ + union { vec_float4 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_soa.h new file mode 100644 index 000000000..1ac657732 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vec_soa.h @@ -0,0 +1,1439 @@ +/* + 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_VEC_SOA_CPP_H +#define _VECTORMATH_VEC_SOA_CPP_H +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_SHUF_X 0x00010203 +#define _VECTORMATH_SHUF_Y 0x04050607 +#define _VECTORMATH_SHUF_Z 0x08090a0b +#define _VECTORMATH_SHUF_W 0x0c0d0e0f +#define _VECTORMATH_SHUF_A 0x10111213 +#define _VECTORMATH_SHUF_B 0x14151617 +#define _VECTORMATH_SHUF_C 0x18191a1b +#define _VECTORMATH_SHUF_D 0x1c1d1e1f +#define _VECTORMATH_SHUF_0 0x80808080 +#define _VECTORMATH_SHUF_XAYB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_ZCWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_ZBW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XCY0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_ZDW0 ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_0 }) +#define _VECTORMATH_SHUF_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZDXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XDZB ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D, _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B }) +#define _VECTORMATH_SHUF_YAWC ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_A, _VECTORMATH_SHUF_W, _VECTORMATH_SHUF_C }) +#define _VECTORMATH_SHUF_ZBXD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_Z, _VECTORMATH_SHUF_B, _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SHUF_XYCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_SHUF_X, _VECTORMATH_SHUF_Y, _VECTORMATH_SHUF_C, _VECTORMATH_SHUF_D }) +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Soa { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline Vector3::Vector3( Aos::Vector3 vec ) +{ + 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_float4 vec128 = vec.get128(); + mX = spu_shuffle( vec128, vec128, shuffle_xxxx ); + mY = spu_shuffle( vec128, vec128, shuffle_yyyy ); + mZ = spu_shuffle( vec128, vec128, shuffle_zzzz ); +} + +inline Vector3::Vector3( Aos::Vector3 vec0, Aos::Vector3 vec1, Aos::Vector3 vec2, Aos::Vector3 vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( vec0.get128(), vec2.get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec1.get128(), vec3.get128(), _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( vec0.get128(), vec2.get128(), _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( vec1.get128(), vec3.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 ); +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f) ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) ); +} + +inline const Vector3 lerp( vec_float4 t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( vec_float4 t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = dot( unitVec0, unitVec1 ); + 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 ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void Vector3::get4Aos( Aos::Vector3 & result0, Aos::Vector3 & result1, Aos::Vector3 & result2, Aos::Vector3 & result3 ) const +{ + vec_float4 tmp0, tmp1; + tmp0 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_ZCWD ); + result0 = Aos::Vector3( spu_shuffle( tmp0, mY, _VECTORMATH_SHUF_XAYB ) ); + result1 = Aos::Vector3( spu_shuffle( tmp0, mY, _VECTORMATH_SHUF_ZBW0 ) ); + result2 = Aos::Vector3( spu_shuffle( tmp1, mY, _VECTORMATH_SHUF_XCY0 ) ); + result3 = Aos::Vector3( spu_shuffle( tmp1, mY, _VECTORMATH_SHUF_ZDW0 ) ); +} + +inline void loadXYZArray( Vector3 & vec, const vec_float4 * threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_XYCD ); + zxzx = spu_shuffle( zxyz, xyzx, _VECTORMATH_SHUF_XYCD ); + yzyz = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_XYCD ); + vec.setX( spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XDZB ) ); + vec.setY( spu_shuffle( xyxy, yzyz, _VECTORMATH_SHUF_YAWC ) ); + vec.setZ( spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_ZBXD ) ); +} + +inline void storeXYZArray( const Vector3 & vec, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = spu_shuffle( vec.getX(), vec.getY(), _VECTORMATH_SHUF_XAZC ); + zxzx = spu_shuffle( vec.getZ(), vec.getX(), _VECTORMATH_SHUF_ZDXB ); + yzyz = spu_shuffle( vec.getY(), vec.getZ(), _VECTORMATH_SHUF_YBWD ); + xyzx = spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XYCD ); + yzxy = spu_shuffle( yzyz, xyxy, _VECTORMATH_SHUF_XYCD ); + zxyz = spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_XYCD ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( const Vector3 & vec0, const Vector3 & vec1, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( vec0, xyz0 ); + storeXYZArray( vec1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Vector3::vec_float4_t & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + spu_add( mX, vec.mX ), + spu_add( mY, vec.mY ), + spu_add( mZ, vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + spu_sub( mX, vec.mX ), + spu_sub( mY, vec.mY ), + spu_sub( mZ, vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + spu_add( mX, pnt.getX() ), + spu_add( mY, pnt.getY() ), + spu_add( mZ, pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( vec_float4 scalar ) const +{ + return Vector3( + spu_mul( mX, scalar ), + spu_mul( mY, scalar ), + spu_mul( mZ, scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( vec_float4 scalar ) const +{ + return Vector3( + divf4( mX, scalar ), + divf4( mY, scalar ), + divf4( mZ, scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( vec_float4 scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + negatef4( mX ), + negatef4( mY ), + negatef4( mZ ) + ); +} + +inline const Vector3 operator *( vec_float4 scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + spu_mul( vec0.getX(), vec1.getX() ), + spu_mul( vec0.getY(), vec1.getY() ), + spu_mul( vec0.getZ(), vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + divf4( vec0.getX(), vec1.getX() ), + divf4( vec0.getY(), vec1.getY() ), + divf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + recipf4( vec.getX() ), + recipf4( vec.getY() ), + recipf4( vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf4( vec.getX() ), + sqrtf4( vec.getY() ), + sqrtf4( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + rsqrtf4( vec.getX() ), + rsqrtf4( vec.getY() ), + rsqrtf4( vec.getZ() ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf4( vec.getX() ), + fabsf4( vec.getY() ), + fabsf4( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + copysignf4( vec0.getX(), vec1.getX() ), + copysignf4( vec0.getY(), vec1.getY() ), + copysignf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + fmaxf4( vec0.getX(), vec1.getX() ), + fmaxf4( vec0.getY(), vec1.getY() ), + fmaxf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline vec_float4 maxElem( const Vector3 & vec ) +{ + vec_float4 result; + result = fmaxf4( vec.getX(), vec.getY() ); + result = fmaxf4( vec.getZ(), result ); + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + fminf4( vec0.getX(), vec1.getX() ), + fminf4( vec0.getY(), vec1.getY() ), + fminf4( vec0.getZ(), vec1.getZ() ) + ); +} + +inline vec_float4 minElem( const Vector3 & vec ) +{ + vec_float4 result; + result = fminf4( vec.getX(), vec.getY() ); + result = fminf4( vec.getZ(), result ); + return result; +} + +inline vec_float4 sum( const Vector3 & vec ) +{ + vec_float4 result; + result = spu_add( vec.getX(), vec.getY() ); + result = spu_add( result, vec.getZ() ); + return result; +} + +inline vec_float4 dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0.getX(), vec1.getX() ); + result = spu_add( result, spu_mul( vec0.getY(), vec1.getY() ) ); + result = spu_add( result, spu_mul( vec0.getZ(), vec1.getZ() ) ); + return result; +} + +inline vec_float4 lengthSqr( const Vector3 & vec ) +{ + vec_float4 result; + result = spu_mul( vec.getX(), vec.getX() ); + result = spu_add( result, spu_mul( vec.getY(), vec.getY() ) ); + result = spu_add( result, spu_mul( vec.getZ(), vec.getZ() ) ); + return result; +} + +inline vec_float4 length( const Vector3 & vec ) +{ + return sqrtf4( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = rsqrtf4( lenSqr ); + return Vector3( + spu_mul( vec.getX(), lenInv ), + spu_mul( vec.getY(), lenInv ), + spu_mul( vec.getZ(), lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + spu_sub( spu_mul( vec0.getY(), vec1.getZ() ), spu_mul( vec0.getZ(), vec1.getY() ) ), + spu_sub( spu_mul( vec0.getZ(), vec1.getX() ), spu_mul( vec0.getX(), vec1.getZ() ) ), + spu_sub( spu_mul( vec0.getX(), vec1.getY() ), spu_mul( vec0.getY(), vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, vec_uint4 select1 ) +{ + return Vector3( + spu_sel( vec0.getX(), vec1.getX(), select1 ), + spu_sel( vec0.getY(), vec1.getY(), select1 ), + spu_sel( vec0.getZ(), vec1.getZ(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + Aos::Vector3 vec0, vec1, vec2, vec3; + vec.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 Vector3 & vec, const char * name ) +{ + Aos::Vector3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vec.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 + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( vec_float4 _x, vec_float4 _y, vec_float4 _z, vec_float4 _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, vec_float4 _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = spu_splats(0.0f); +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = spu_splats(1.0f); +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline Vector4::Vector4( Aos::Vector4 vec ) +{ + 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 = vec.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 Vector4::Vector4( Aos::Vector4 vec0, Aos::Vector4 vec1, Aos::Vector4 vec2, Aos::Vector4 vec3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( vec0.get128(), vec2.get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( vec1.get128(), vec3.get128(), _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( vec0.get128(), vec2.get128(), _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( vec1.get128(), vec3.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 Vector4 Vector4::xAxis( ) +{ + return Vector4( spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f), spu_splats(0.0f) ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f), spu_splats(0.0f) ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( spu_splats(0.0f), spu_splats(0.0f), spu_splats(0.0f), spu_splats(1.0f) ); +} + +inline const Vector4 lerp( vec_float4 t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( vec_float4 t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + vec_float4 recipSinAngle, scale0, scale1, cosAngle, angle; + vec_uint4 selectMask; + cosAngle = dot( unitVec0, unitVec1 ); + 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 ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void Vector4::get4Aos( Aos::Vector4 & result0, Aos::Vector4 & result1, Aos::Vector4 & result2, Aos::Vector4 & 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::Vector4( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_XAYB ) ); + result1 = Aos::Vector4( spu_shuffle( tmp0, tmp1, _VECTORMATH_SHUF_ZCWD ) ); + result2 = Aos::Vector4( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_XAYB ) ); + result3 = Aos::Vector4( spu_shuffle( tmp2, tmp3, _VECTORMATH_SHUF_ZCWD ) ); +} + +inline void storeHalfFloats( const Vector4 & vec, vec_ushort8 * twoQuads ) +{ + Aos::Vector4 v0, v1, v2, v3; + vec.get4Aos( v0, v1, v2, v3 ); + twoQuads[0] = _vmath2VfToHalfFloats(v0.get128(), v1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(v2.get128(), v3.get128()); +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( vec_float4 _w ) +{ + mW = _w; + return *this; +} + +inline vec_float4 Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Vector4::vec_float4_t & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + spu_add( mX, vec.mX ), + spu_add( mY, vec.mY ), + spu_add( mZ, vec.mZ ), + spu_add( mW, vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + spu_sub( mX, vec.mX ), + spu_sub( mY, vec.mY ), + spu_sub( mZ, vec.mZ ), + spu_sub( mW, vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( vec_float4 scalar ) const +{ + return Vector4( + spu_mul( mX, scalar ), + spu_mul( mY, scalar ), + spu_mul( mZ, scalar ), + spu_mul( mW, scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( vec_float4 scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( vec_float4 scalar ) const +{ + return Vector4( + divf4( mX, scalar ), + divf4( mY, scalar ), + divf4( mZ, scalar ), + divf4( mW, scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( vec_float4 scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + negatef4( mX ), + negatef4( mY ), + negatef4( mZ ), + negatef4( mW ) + ); +} + +inline const Vector4 operator *( vec_float4 scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + spu_mul( vec0.getX(), vec1.getX() ), + spu_mul( vec0.getY(), vec1.getY() ), + spu_mul( vec0.getZ(), vec1.getZ() ), + spu_mul( vec0.getW(), vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + divf4( vec0.getX(), vec1.getX() ), + divf4( vec0.getY(), vec1.getY() ), + divf4( vec0.getZ(), vec1.getZ() ), + divf4( vec0.getW(), vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + recipf4( vec.getX() ), + recipf4( vec.getY() ), + recipf4( vec.getZ() ), + recipf4( vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf4( vec.getX() ), + sqrtf4( vec.getY() ), + sqrtf4( vec.getZ() ), + sqrtf4( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + rsqrtf4( vec.getX() ), + rsqrtf4( vec.getY() ), + rsqrtf4( vec.getZ() ), + rsqrtf4( vec.getW() ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf4( vec.getX() ), + fabsf4( vec.getY() ), + fabsf4( vec.getZ() ), + fabsf4( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + copysignf4( vec0.getX(), vec1.getX() ), + copysignf4( vec0.getY(), vec1.getY() ), + copysignf4( vec0.getZ(), vec1.getZ() ), + copysignf4( vec0.getW(), vec1.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + fmaxf4( vec0.getX(), vec1.getX() ), + fmaxf4( vec0.getY(), vec1.getY() ), + fmaxf4( vec0.getZ(), vec1.getZ() ), + fmaxf4( vec0.getW(), vec1.getW() ) + ); +} + +inline vec_float4 maxElem( const Vector4 & vec ) +{ + vec_float4 result; + result = fmaxf4( vec.getX(), vec.getY() ); + result = fmaxf4( vec.getZ(), result ); + result = fmaxf4( vec.getW(), result ); + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + fminf4( vec0.getX(), vec1.getX() ), + fminf4( vec0.getY(), vec1.getY() ), + fminf4( vec0.getZ(), vec1.getZ() ), + fminf4( vec0.getW(), vec1.getW() ) + ); +} + +inline vec_float4 minElem( const Vector4 & vec ) +{ + vec_float4 result; + result = fminf4( vec.getX(), vec.getY() ); + result = fminf4( vec.getZ(), result ); + result = fminf4( vec.getW(), result ); + return result; +} + +inline vec_float4 sum( const Vector4 & vec ) +{ + vec_float4 result; + result = spu_add( vec.getX(), vec.getY() ); + result = spu_add( result, vec.getZ() ); + result = spu_add( result, vec.getW() ); + return result; +} + +inline vec_float4 dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + vec_float4 result; + result = spu_mul( vec0.getX(), vec1.getX() ); + result = spu_add( result, spu_mul( vec0.getY(), vec1.getY() ) ); + result = spu_add( result, spu_mul( vec0.getZ(), vec1.getZ() ) ); + result = spu_add( result, spu_mul( vec0.getW(), vec1.getW() ) ); + return result; +} + +inline vec_float4 lengthSqr( const Vector4 & vec ) +{ + vec_float4 result; + result = spu_mul( vec.getX(), vec.getX() ); + result = spu_add( result, spu_mul( vec.getY(), vec.getY() ) ); + result = spu_add( result, spu_mul( vec.getZ(), vec.getZ() ) ); + result = spu_add( result, spu_mul( vec.getW(), vec.getW() ) ); + return result; +} + +inline vec_float4 length( const Vector4 & vec ) +{ + return sqrtf4( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + vec_float4 lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = rsqrtf4( lenSqr ); + return Vector4( + spu_mul( vec.getX(), lenInv ), + spu_mul( vec.getY(), lenInv ), + spu_mul( vec.getZ(), lenInv ), + spu_mul( vec.getW(), lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, vec_uint4 select1 ) +{ + return Vector4( + spu_sel( vec0.getX(), vec1.getX(), select1 ), + spu_sel( vec0.getY(), vec1.getY(), select1 ), + spu_sel( vec0.getZ(), vec1.getZ(), select1 ), + spu_sel( vec0.getW(), vec1.getW(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + Aos::Vector4 vec0, vec1, vec2, vec3; + vec.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 Vector4 & vec, const char * name ) +{ + Aos::Vector4 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + vec.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 + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( vec_float4 _x, vec_float4 _y, vec_float4 _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( vec_float4 scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline Point3::Point3( Aos::Point3 pnt ) +{ + 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_float4 vec128 = pnt.get128(); + mX = spu_shuffle( vec128, vec128, shuffle_xxxx ); + mY = spu_shuffle( vec128, vec128, shuffle_yyyy ); + mZ = spu_shuffle( vec128, vec128, shuffle_zzzz ); +} + +inline Point3::Point3( Aos::Point3 pnt0, Aos::Point3 pnt1, Aos::Point3 pnt2, Aos::Point3 pnt3 ) +{ + vec_float4 tmp0, tmp1, tmp2, tmp3; + tmp0 = spu_shuffle( pnt0.get128(), pnt2.get128(), _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( pnt1.get128(), pnt3.get128(), _VECTORMATH_SHUF_XAYB ); + tmp2 = spu_shuffle( pnt0.get128(), pnt2.get128(), _VECTORMATH_SHUF_ZCWD ); + tmp3 = spu_shuffle( pnt1.get128(), pnt3.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 ); +} + +inline const Point3 lerp( vec_float4 t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void Point3::get4Aos( Aos::Point3 & result0, Aos::Point3 & result1, Aos::Point3 & result2, Aos::Point3 & result3 ) const +{ + vec_float4 tmp0, tmp1; + tmp0 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_XAYB ); + tmp1 = spu_shuffle( mX, mZ, _VECTORMATH_SHUF_ZCWD ); + result0 = Aos::Point3( spu_shuffle( tmp0, mY, _VECTORMATH_SHUF_XAYB ) ); + result1 = Aos::Point3( spu_shuffle( tmp0, mY, _VECTORMATH_SHUF_ZBW0 ) ); + result2 = Aos::Point3( spu_shuffle( tmp1, mY, _VECTORMATH_SHUF_XCY0 ) ); + result3 = Aos::Point3( spu_shuffle( tmp1, mY, _VECTORMATH_SHUF_ZDW0 ) ); +} + +inline void loadXYZArray( Point3 & vec, const vec_float4 * threeQuads ) +{ + vec_float4 xyxy, yzyz, zxzx, xyzx, yzxy, zxyz; + xyzx = threeQuads[0]; + yzxy = threeQuads[1]; + zxyz = threeQuads[2]; + xyxy = spu_shuffle( xyzx, yzxy, _VECTORMATH_SHUF_XYCD ); + zxzx = spu_shuffle( zxyz, xyzx, _VECTORMATH_SHUF_XYCD ); + yzyz = spu_shuffle( yzxy, zxyz, _VECTORMATH_SHUF_XYCD ); + vec.setX( spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XDZB ) ); + vec.setY( spu_shuffle( xyxy, yzyz, _VECTORMATH_SHUF_YAWC ) ); + vec.setZ( spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_ZBXD ) ); +} + +inline void storeXYZArray( const Point3 & vec, vec_float4 * threeQuads ) +{ + vec_float4 xyzx, yzxy, zxyz, xyxy, zxzx, yzyz; + xyxy = spu_shuffle( vec.getX(), vec.getY(), _VECTORMATH_SHUF_XAZC ); + zxzx = spu_shuffle( vec.getZ(), vec.getX(), _VECTORMATH_SHUF_ZDXB ); + yzyz = spu_shuffle( vec.getY(), vec.getZ(), _VECTORMATH_SHUF_YBWD ); + xyzx = spu_shuffle( xyxy, zxzx, _VECTORMATH_SHUF_XYCD ); + yzxy = spu_shuffle( yzyz, xyxy, _VECTORMATH_SHUF_XYCD ); + zxyz = spu_shuffle( zxzx, yzyz, _VECTORMATH_SHUF_XYCD ); + threeQuads[0] = xyzx; + threeQuads[1] = yzxy; + threeQuads[2] = zxyz; +} + +inline void storeHalfFloats( const Point3 & pnt0, const Point3 & pnt1, vec_ushort8 * threeQuads ) +{ + vec_float4 xyz0[3]; + vec_float4 xyz1[3]; + storeXYZArray( pnt0, xyz0 ); + storeXYZArray( pnt1, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( vec_float4 _x ) +{ + mX = _x; + return *this; +} + +inline vec_float4 Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( vec_float4 _y ) +{ + mY = _y; + return *this; +} + +inline vec_float4 Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( vec_float4 _z ) +{ + mZ = _z; + return *this; +} + +inline vec_float4 Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, vec_float4 value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline vec_float4 Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline Point3::vec_float4_t & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline vec_float4 Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + spu_sub( mX, pnt.mX ), + spu_sub( mY, pnt.mY ), + spu_sub( mZ, pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + spu_add( mX, vec.getX() ), + spu_add( mY, vec.getY() ), + spu_add( mZ, vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + spu_sub( mX, vec.getX() ), + spu_sub( mY, vec.getY() ), + spu_sub( mZ, vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + spu_mul( pnt0.getX(), pnt1.getX() ), + spu_mul( pnt0.getY(), pnt1.getY() ), + spu_mul( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + divf4( pnt0.getX(), pnt1.getX() ), + divf4( pnt0.getY(), pnt1.getY() ), + divf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + recipf4( pnt.getX() ), + recipf4( pnt.getY() ), + recipf4( pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf4( pnt.getX() ), + sqrtf4( pnt.getY() ), + sqrtf4( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + rsqrtf4( pnt.getX() ), + rsqrtf4( pnt.getY() ), + rsqrtf4( pnt.getZ() ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf4( pnt.getX() ), + fabsf4( pnt.getY() ), + fabsf4( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + copysignf4( pnt0.getX(), pnt1.getX() ), + copysignf4( pnt0.getY(), pnt1.getY() ), + copysignf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + fmaxf4( pnt0.getX(), pnt1.getX() ), + fmaxf4( pnt0.getY(), pnt1.getY() ), + fmaxf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline vec_float4 maxElem( const Point3 & pnt ) +{ + vec_float4 result; + result = fmaxf4( pnt.getX(), pnt.getY() ); + result = fmaxf4( pnt.getZ(), result ); + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + fminf4( pnt0.getX(), pnt1.getX() ), + fminf4( pnt0.getY(), pnt1.getY() ), + fminf4( pnt0.getZ(), pnt1.getZ() ) + ); +} + +inline vec_float4 minElem( const Point3 & pnt ) +{ + vec_float4 result; + result = fminf4( pnt.getX(), pnt.getY() ); + result = fminf4( pnt.getZ(), result ); + return result; +} + +inline vec_float4 sum( const Point3 & pnt ) +{ + vec_float4 result; + result = spu_add( pnt.getX(), pnt.getY() ); + result = spu_add( result, pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, vec_float4 scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline vec_float4 projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + vec_float4 result; + result = spu_mul( pnt.getX(), unitVec.getX() ); + result = spu_add( result, spu_mul( pnt.getY(), unitVec.getY() ) ); + result = spu_add( result, spu_mul( pnt.getZ(), unitVec.getZ() ) ); + return result; +} + +inline vec_float4 distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline vec_float4 distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline vec_float4 distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline vec_float4 dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, vec_uint4 select1 ) +{ + return Point3( + spu_sel( pnt0.getX(), pnt1.getX(), select1 ), + spu_sel( pnt0.getY(), pnt1.getY(), select1 ), + spu_sel( pnt0.getZ(), pnt1.getZ(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + Aos::Point3 vec0, vec1, vec2, vec3; + pnt.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 Point3 & pnt, const char * name ) +{ + Aos::Point3 vec0, vec1, vec2, vec3; + printf( "%s:\n", name ); + pnt.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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/vecidx_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vecidx_aos.h new file mode 100644 index 000000000..f5309153d --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vecidx_aos.h @@ -0,0 +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 + +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 diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_aos.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_aos.h new file mode 100644 index 000000000..dd583790b --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_aos.h @@ -0,0 +1,1851 @@ +/* + 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_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include +#include +#include "floatInVec.h" +#include "boolInVec.h" +#include "stdio.h" +#include "vecidx_aos.h" + +#ifdef _VECTORMATH_DEBUG +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( Point3 pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Set vector float data in a 3-D vector + // + explicit inline Vector3( vec_float4 vf4 ); + + // Get vector float data from a 3-D vector + // + inline vec_float4 get128( ) const; + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( Vector3 vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( Vector3 vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( Vector3 vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( Point3 pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( Vector3 vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( Vector3 vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, Vector3 vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( Vector3 vec0, Vector3 vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( Vector3 vec0, Vector3 vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( Vector3 vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( Vector3 vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( Vector3 vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( Vector3 vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( Vector3 vec0, Vector3 vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( Vector3 vec0, Vector3 vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( Vector3 vec0, Vector3 vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( Vector3 vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( Vector3 vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( Vector3 vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( Vector3 vec0, Vector3 vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( Vector3 vec ); + +// Compute the length of a 3-D vector +// +inline float length( Vector3 vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( Vector3 vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( Vector3 vec0, Vector3 vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( Vector3 vec0, Vector3 vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// NOTE: +// Slower than column post-multiply. +// +inline const Vector3 rowMul( Vector3 vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( Vector3 vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( Vector3 vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, Vector3 vec0, Vector3 vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, Vector3 unitVec0, Vector3 unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector3 select( Vector3 vec0, Vector3 vec1, bool select1 ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a quadword. +// The value of the fourth word (the word with the highest address) remains unchanged +// +inline void storeXYZ( Vector3 vec, vec_float4 * quad ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +inline void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const vec_float4 * threeQuads ); + +// Store four 3-D vectors in three quadwords +// +inline void storeXYZArray( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, vec_float4 * threeQuads ); + +// Store eight 3-D vectors as half-floats +// +inline void storeHalfFloats( Vector3 vec0, Vector3 vec1, Vector3 vec2, Vector3 vec3, Vector3 vec4, Vector3 vec5, Vector3 vec6, Vector3 vec7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector3 vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector3 vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( Vector3 xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( Vector3 vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( Point3 pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( Quat quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Set vector float data in a 4-D vector + // + explicit inline Vector4( vec_float4 vf4 ); + + // Get vector float data from a 4-D vector + // + inline vec_float4 get128( ) const; + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( Vector4 vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( Vector3 vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( Vector4 vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( Vector4 vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( Vector4 vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( Vector4 vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, Vector4 vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( Vector4 vec0, Vector4 vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( Vector4 vec0, Vector4 vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( Vector4 vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( Vector4 vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( Vector4 vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( Vector4 vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( Vector4 vec0, Vector4 vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( Vector4 vec0, Vector4 vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( Vector4 vec0, Vector4 vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( Vector4 vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( Vector4 vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( Vector4 vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( Vector4 vec0, Vector4 vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( Vector4 vec ); + +// Compute the length of a 4-D vector +// +inline float length( Vector4 vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( Vector4 vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( Vector4 vec0, Vector4 vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, Vector4 vec0, Vector4 vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, Vector4 unitVec0, Vector4 unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector4 select( Vector4 vec0, Vector4 vec1, bool select1 ); + +// Store four 4-D vectors as half-floats +// +inline void storeHalfFloats( Vector4 vec0, Vector4 vec1, Vector4 vec2, Vector4 vec3, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector4 vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Vector4 vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( Vector3 vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Set vector float data in a 3-D point + // + explicit inline Point3( vec_float4 vf4 ); + + // Get vector float data from a 3-D point + // + inline vec_float4 get128( ) const; + + // Assign one 3-D point to another + // + inline Point3 & operator =( Point3 pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( Point3 pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( Vector3 vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( Vector3 vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( Vector3 vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( Vector3 vec ); + +}; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( Point3 pnt0, Point3 pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( Point3 pnt0, Point3 pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( Point3 pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( Point3 pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( Point3 pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( Point3 pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( Point3 pnt0, Point3 pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( Point3 pnt0, Point3 pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( Point3 pnt0, Point3 pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( Point3 pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( Point3 pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( Point3 pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( Point3 pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( Point3 pnt, Vector3 scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( Point3 pnt, Vector3 unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( Point3 pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( Point3 pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( Point3 pnt0, Point3 pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( Point3 pnt0, Point3 pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, Point3 pnt0, Point3 pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Point3 select( Point3 pnt0, Point3 pnt1, bool select1 ); + +// Store x, y, and z elements of a 3-D point in the first three words of a quadword. +// The value of the fourth word (the word with the highest address) remains unchanged +// +inline void storeXYZ( Point3 pnt, vec_float4 * quad ); + +// Load four three-float 3-D points, stored in three quadwords +// +inline void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const vec_float4 * threeQuads ); + +// Store four 3-D points in three quadwords +// +inline void storeXYZArray( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, vec_float4 * threeQuads ); + +// Store eight 3-D points as half-floats +// +inline void storeHalfFloats( Point3 pnt0, Point3 pnt1, Point3 pnt2, Point3 pnt3, Point3 pnt4, Point3 pnt5, Point3 pnt6, Point3 pnt7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Point3 pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Point3 pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + vec_float4 mVec128; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( Vector3 xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( Vector4 vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Set vector float data in a quaternion + // + explicit inline Quat( vec_float4 vf4 ); + + // Get vector float data from a quaternion + // + inline vec_float4 get128( ) const; + + // Assign one quaternion to another + // + inline Quat & operator =( Quat quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( Vector3 vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( Quat quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( Quat quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( Quat quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( Quat quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( Quat quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( Quat quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( Vector3 unitVec0, Vector3 unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, Vector3 unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +}; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, Quat quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( Quat quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( Quat unitQuat, Vector3 vec ); + +// Compute the dot product of two quaternions +// +inline float dot( Quat quat0, Quat quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( Quat quat ); + +// Compute the length of a quaternion +// +inline float length( Quat quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( Quat quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, Quat quat0, Quat quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, Quat unitQuat0, Quat unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, Quat unitQuat0, Quat unitQuat1, Quat unitQuat2, Quat unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Quat select( Quat quat0, Quat quat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Quat quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( Quat quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( Vector3 col0, Vector3 col1, Vector3 col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( Quat unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( Vector3 col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( Vector3 col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( Vector3 col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, Vector3 vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, Vector3 vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( Vector3 vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( Quat unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( Vector3 scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( Vector3 scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( Vector4 col0, Vector4 col1, Vector4 col2, Vector4 col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, Vector3 translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( Quat unitQuat, Vector3 translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( Vector3 translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( Vector4 col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( Vector4 col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( Vector4 col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( Vector4 col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, Vector4 vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, Vector4 vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( Vector4 vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( Vector3 vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( Point3 pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( Quat unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( Vector3 scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( Vector3 translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( Point3 eyePos, Point3 lookAtPos, Vector3 upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( Vector3 scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( Vector3 col0, Vector3 col1, Vector3 col2, Vector3 col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, Vector3 translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( Quat unitQuat, Vector3 translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( Vector3 translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( Vector3 col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( Vector3 col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( Vector3 col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( Vector3 col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, Vector3 vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, Vector4 vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( Vector3 vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( Point3 pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( Vector3 radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, Vector3 unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( Quat unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( Vector3 scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( Vector3 translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, Vector3 scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( Vector3 scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_soa.h b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_soa.h new file mode 100644 index 000000000..31b8f8304 --- /dev/null +++ b/Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_soa.h @@ -0,0 +1,1921 @@ +/* + 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_SOA_CPP_H +#define _VECTORMATH_SOA_CPP_H + +#include +#include +#include "floatInVec.h" +#include "boolInVec.h" +#include "stdio.h" +#include "vectormath_aos.h" + +#ifdef _VECTORMATH_DEBUG +#endif + +namespace Vectormath { + +namespace Soa { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A set of four 3-D vectors in structure-of-arrays format +// +class Vector3 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( vec_float4 x, vec_float4 y, vec_float4 z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( vec_float4 scalar ); + + // Replicate an AoS 3-D vector + // + inline Vector3( Aos::Vector3 vec ); + + // Insert four AoS 3-D vectors + // + inline Vector3( Aos::Vector3 vec0, Aos::Vector3 vec1, Aos::Vector3 vec2, Aos::Vector3 vec3 ); + + // Extract four AoS 3-D vectors + // + inline void get4Aos( Aos::Vector3 & result0, Aos::Vector3 & result1, Aos::Vector3 & result2, Aos::Vector3 & result3 ) const; + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( vec_float4 x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( vec_float4 y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( vec_float4 z ); + + // Get the x element of a 3-D vector + // + inline vec_float4 getX( ) const; + + // Get the y element of a 3-D vector + // + inline vec_float4 getY( ) const; + + // Get the z element of a 3-D vector + // + inline vec_float4 getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, vec_float4 value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( vec_float4 scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( vec_float4 scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( vec_float4 scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline vec_float4 maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline vec_float4 minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline vec_float4 sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline vec_float4 dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline vec_float4 lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline vec_float4 length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( vec_float4 t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( vec_float4 t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, vec_uint4 select1 ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +inline void loadXYZArray( Vector3 & vec, const vec_float4 * threeQuads ); + +// Store four slots of an SoA 3-D vector in three quadwords +// +inline void storeXYZArray( const Vector3 & vec, vec_float4 * threeQuads ); + +// Store eight slots of two SoA 3-D vectors as half-floats +// +inline void storeHalfFloats( const Vector3 & vec0, const Vector3 & vec1, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A set of four 4-D vectors in structure-of-arrays format +// +class Vector4 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + vec_float4 mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, vec_float4 w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( vec_float4 scalar ); + + // Replicate an AoS 4-D vector + // + inline Vector4( Aos::Vector4 vec ); + + // Insert four AoS 4-D vectors + // + inline Vector4( Aos::Vector4 vec0, Aos::Vector4 vec1, Aos::Vector4 vec2, Aos::Vector4 vec3 ); + + // Extract four AoS 4-D vectors + // + inline void get4Aos( Aos::Vector4 & result0, Aos::Vector4 & result1, Aos::Vector4 & result2, Aos::Vector4 & result3 ) const; + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( vec_float4 x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( vec_float4 y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( vec_float4 z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( vec_float4 w ); + + // Get the x element of a 4-D vector + // + inline vec_float4 getX( ) const; + + // Get the y element of a 4-D vector + // + inline vec_float4 getY( ) const; + + // Get the z element of a 4-D vector + // + inline vec_float4 getZ( ) const; + + // Get the w element of a 4-D vector + // + inline vec_float4 getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, vec_float4 value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( vec_float4 scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( vec_float4 scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( vec_float4 scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline vec_float4 maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline vec_float4 minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline vec_float4 sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline vec_float4 dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline vec_float4 lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline vec_float4 length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( vec_float4 t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( vec_float4 t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, vec_uint4 select1 ); + +// Store four slots of an SoA 4-D vector as half-floats +// +inline void storeHalfFloats( const Vector4 & vec, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A set of four 3-D points in structure-of-arrays format +// +class Point3 +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( vec_float4 x, vec_float4 y, vec_float4 z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( vec_float4 scalar ); + + // Replicate an AoS 3-D point + // + inline Point3( Aos::Point3 pnt ); + + // Insert four AoS 3-D points + // + inline Point3( Aos::Point3 pnt0, Aos::Point3 pnt1, Aos::Point3 pnt2, Aos::Point3 pnt3 ); + + // Extract four AoS 3-D points + // + inline void get4Aos( Aos::Point3 & result0, Aos::Point3 & result1, Aos::Point3 & result2, Aos::Point3 & result3 ) const; + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( vec_float4 x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( vec_float4 y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( vec_float4 z ); + + // Get the x element of a 3-D point + // + inline vec_float4 getX( ) const; + + // Get the y element of a 3-D point + // + inline vec_float4 getY( ) const; + + // Get the z element of a 3-D point + // + inline vec_float4 getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, vec_float4 value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +}; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline vec_float4 maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline vec_float4 minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline vec_float4 sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, vec_float4 scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline vec_float4 projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline vec_float4 distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline vec_float4 distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline vec_float4 distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline vec_float4 dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( vec_float4 t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, vec_uint4 select1 ); + +// Load four three-float 3-D points, stored in three quadwords +// +inline void loadXYZArray( Point3 & pnt, const vec_float4 * threeQuads ); + +// Store four slots of an SoA 3-D point in three quadwords +// +inline void storeXYZArray( const Point3 & pnt, vec_float4 * threeQuads ); + +// Store eight slots of two SoA 3-D points as half-floats +// +inline void storeHalfFloats( const Point3 & pnt0, const Point3 & pnt1, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A set of four quaternions in structure-of-arrays format +// +class Quat +{ + typedef vec_float4 vec_float4_t; + vec_float4 mX; + vec_float4 mY; + vec_float4 mZ; + vec_float4 mW; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( vec_float4 x, vec_float4 y, vec_float4 z, vec_float4 w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, vec_float4 w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( vec_float4 scalar ); + + // Replicate an AoS quaternion + // + inline Quat( Aos::Quat quat ); + + // Insert four AoS quaternions + // + inline Quat( Aos::Quat quat0, Aos::Quat quat1, Aos::Quat quat2, Aos::Quat quat3 ); + + // Extract four AoS quaternions + // + inline void get4Aos( Aos::Quat & result0, Aos::Quat & result1, Aos::Quat & result2, Aos::Quat & result3 ) const; + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( vec_float4 x ); + + // Set the y element of a quaternion + // + inline Quat & setY( vec_float4 y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( vec_float4 z ); + + // Set the w element of a quaternion + // + inline Quat & setW( vec_float4 w ); + + // Get the x element of a quaternion + // + inline vec_float4 getX( ) const; + + // Get the y element of a quaternion + // + inline vec_float4 getY( ) const; + + // Get the z element of a quaternion + // + inline vec_float4 getZ( ) const; + + // Get the w element of a quaternion + // + inline vec_float4 getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, vec_float4 value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline vec_float4 getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline vec_float4_t & operator []( int idx ); + + // Subscripting operator to get an element + // + inline vec_float4 operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( vec_float4 scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( vec_float4 scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( vec_float4 scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( vec_float4 scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( vec_float4 radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( vec_float4 radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( vec_float4 radians ); + +}; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( vec_float4 scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline vec_float4 dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline vec_float4 norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline vec_float4 length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( vec_float4 t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( vec_float4 t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Quat select( const Quat & quat0, const Quat & quat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A set of four 3x3 matrices in structure-of-arrays format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( vec_float4 scalar ); + + // Replicate an AoS 3x3 matrix + // + inline Matrix3( const Aos::Matrix3 & mat ); + + // Insert four AoS 3x3 matrices + // + inline Matrix3( const Aos::Matrix3 & mat0, const Aos::Matrix3 & mat1, const Aos::Matrix3 & mat2, const Aos::Matrix3 & mat3 ); + + // Extract four AoS 3x3 matrices + // + inline void get4Aos( Aos::Matrix3 & result0, Aos::Matrix3 & result1, Aos::Matrix3 & result2, Aos::Matrix3 & result3 ) const; + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( vec_float4 scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( vec_float4 radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( vec_float4 scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline vec_float4 determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A set of four 4x4 matrices in structure-of-arrays format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( vec_float4 scalar ); + + // Replicate an AoS 4x4 matrix + // + inline Matrix4( const Aos::Matrix4 & mat ); + + // Insert four AoS 4x4 matrices + // + inline Matrix4( const Aos::Matrix4 & mat0, const Aos::Matrix4 & mat1, const Aos::Matrix4 & mat2, const Aos::Matrix4 & mat3 ); + + // Extract four AoS 4x4 matrices + // + inline void get4Aos( Aos::Matrix4 & result0, Aos::Matrix4 & result1, Aos::Matrix4 & result2, Aos::Matrix4 & result3 ) const; + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( vec_float4 scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( vec_float4 scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( vec_float4 radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( vec_float4 fovyRadians, vec_float4 aspect, vec_float4 zNear, vec_float4 zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( vec_float4 left, vec_float4 right, vec_float4 bottom, vec_float4 top, vec_float4 zNear, vec_float4 zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( vec_float4 scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline vec_float4 determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A set of four 3x4 transformation matrices in structure-of-arrays format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( vec_float4 scalar ); + + // Replicate an AoS 3x4 transformation matrix + // + inline Transform3( const Aos::Transform3 & tfrm ); + + // Insert four AoS 3x4 transformation matrices + // + inline Transform3( const Aos::Transform3 & tfrm0, const Aos::Transform3 & tfrm1, const Aos::Transform3 & tfrm2, const Aos::Transform3 & tfrm3 ); + + // Extract four AoS 3x4 transformation matrices + // + inline void get4Aos( Aos::Transform3 & result0, Aos::Transform3 & result1, Aos::Transform3 & result2, Aos::Transform3 & result3 ) const; + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, vec_float4 val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline vec_float4 getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( vec_float4 radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( vec_float4 radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, vec_uint4 select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Soa +} // namespace Vectormath + +#include "vec_soa.h" +#include "quat_soa.h" +#include "mat_soa.h" + +#endif diff --git a/Extras/vectormathlibrary/other/rs6000/si2vmx.h b/Extras/vectormathlibrary/other/rs6000/si2vmx.h new file mode 100644 index 000000000..71fdf5878 --- /dev/null +++ b/Extras/vectormathlibrary/other/rs6000/si2vmx.h @@ -0,0 +1,2054 @@ +/* This file contains a set of functions and macros that map the specific + SPU intrinsic to the PPU/VMX system. */ + +/* (C) Copyright + Sony Computer Entertainment, Inc., + 2001,2002,2003,2004,2005,2006. + + This file is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free + Software Foundation; either version 2 of the License, or (at your option) + any later version. + + This file is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with this file; see the file COPYING. If not, write to the Free + Software Foundation, 51 Franklin Street, Fifth Floor, Boston, MA + 02110-1301, USA. */ + +/* As a special exception, if you include this header file into source files + compiled by GCC, this header file does not by itself cause the resulting + executable to be covered by the GNU General Public License. This exception + does not however invalidate any other reasons why the executable file might be + covered by the GNU General Public License. */ + +#ifndef _SI2VMX_H_ +#define _SI2VMX_H_ 1 + +#ifndef __SPU__ + +#include +#include + + +/* Specify a default halt action for spu_hcmpeq and spu_hcmpgt intrinsics. + * Users can override the action by defining it prior to including this + * header file. + */ +#ifndef SPU_HALT_ACTION +#define SPU_HALT_ACTION abort() +#endif + +/* Specify a default stop action for the spu_stop intrinsic. + * Users can override the action by defining it prior to including this + * header file. + */ +#ifndef SPU_STOP_ACTION +#define SPU_STOP_ACTION abort() +#endif + + +/* Specify a default action for unsupported intrinsic. + * Users can override the action by defining it prior to including this + * header file. + */ +#ifndef SPU_UNSUPPORTED_ACTION +#define SPU_UNSUPPORTED_ACTION abort() +#endif + + +/* Casting intrinsics - from scalar to quadword + */ + +static __inline qword si_from_uchar(unsigned char c) { + union { + qword q; + unsigned char c[16]; + } x; + x.c[3] = c; + return (x.q); +} + +static __inline qword si_from_char(signed char c) { + union { + qword q; + signed char c[16]; + } x; + x.c[3] = c; + return (x.q); +} + +static __inline qword si_from_ushort(unsigned short s) { + union { + qword q; + unsigned short s[8]; + } x; + x.s[1] = s; + return (x.q); +} + +static __inline qword si_from_short(short s) { + union { + qword q; + short s[8]; + } x; + x.s[1] = s; + return (x.q); +} + + +static __inline qword si_from_uint(unsigned int i) { + union { + qword q; + unsigned int i[4]; + } x; + x.i[0] = i; + return (x.q); +} + +static __inline qword si_from_int(int i) { + union { + qword q; + int i[4]; + } x; + x.i[0] = i; + return (x.q); +} + +static __inline qword si_from_ullong(unsigned long long l) { + union { + qword q; + unsigned long long l[2]; + } x; + x.l[0] = l; + return (x.q); +} + +static __inline qword si_from_llong(long long l) { + union { + qword q; + long long l[2]; + } x; + x.l[0] = l; + return (x.q); +} + +static __inline qword si_from_float(float f) { + union { + qword q; + float f[4]; + } x; + x.f[0] = f; + return (x.q); +} + +static __inline qword si_from_double(double d) { + union { + qword q; + double d[2]; + } x; + x.d[0] = d; + return (x.q); +} + +static __inline qword si_from_ptr(void *ptr) { + union { + qword q; + void *p; + } x; + x.p = ptr; + return (x.q); +} + + +/* Casting intrinsics - from quadword to scalar + */ +static __inline unsigned char si_to_uchar(qword q) { + union { + qword q; + unsigned char c[16]; + } x; + x.q = q; + return (x.c[3]); +} + +static __inline signed char si_to_char(qword q) { + union { + qword q; + signed char c[16]; + } x; + x.q = q; + return (x.c[3]); +} + +static __inline unsigned short si_to_ushort(qword q) { + union { + qword q; + unsigned short s[8]; + } x; + x.q = q; + return (x.s[1]); +} + +static __inline short si_to_short(qword q) { + union { + qword q; + short s[8]; + } x; + x.q = q; + return (x.s[1]); +} + +static __inline unsigned int si_to_uint(qword q) { + union { + qword q; + unsigned int i[4]; + } x; + x.q = q; + return (x.i[0]); +} + +static __inline int si_to_int(qword q) { + union { + qword q; + int i[4]; + } x; + x.q = q; + return (x.i[0]); +} + +static __inline unsigned long long si_to_ullong(qword q) { + union { + qword q; + unsigned long long l[2]; + } x; + x.q = q; + return (x.l[0]); +} + +static __inline long long si_to_llong(qword q) { + union { + qword q; + long long l[2]; + } x; + x.q = q; + return (x.l[0]); +} + +static __inline float si_to_float(qword q) { + union { + qword q; + float f[4]; + } x; + x.q = q; + return (x.f[0]); +} + +static __inline double si_to_double(qword q) { + union { + qword q; + double d[2]; + } x; + x.q = q; + return (x.d[0]); +} + +static __inline void * si_to_ptr(qword q) { + union { + qword q; + void *p; + } x; + x.q = q; + return (x.p); +} + + +/* Absolute difference + */ +static __inline qword si_absdb(qword a, qword b) +{ + vec_uchar16 ac, bc, dc; + + ac = (vec_uchar16)(a); + bc = (vec_uchar16)(b); + dc = vec_sel(vec_sub(bc, ac), vec_sub(ac, bc), vec_cmpgt(ac, bc)); + + return ((qword)(dc)); +} + +/* Add intrinsics + */ +#define si_a(_a, _b) ((qword)(vec_add((vec_uint4)(_a), (vec_uint4)(_b)))) + +#define si_ah(_a, _b) ((qword)(vec_add((vec_ushort8)(_a), (vec_ushort8)(_b)))) + +static __inline qword si_ai(qword a, int b) +{ + return ((qword)(vec_add((vec_int4)(a), + vec_splat((vec_int4)(si_from_int(b)), 0)))); +} + + +static __inline qword si_ahi(qword a, short b) +{ + return ((qword)(vec_add((vec_short8)(a), + vec_splat((vec_short8)(si_from_short(b)), 1)))); +} + + +#define si_fa(_a, _b) ((qword)(vec_add((vec_float4)(_a), (vec_float4)(_b)))) + + +static __inline qword si_dfa(qword a, qword b) +{ + union { + vec_double2 v; + double d[2]; + } ad, bd, dd; + + ad.v = (vec_double2)(a); + bd.v = (vec_double2)(b); + dd.d[0] = ad.d[0] + bd.d[0]; + dd.d[1] = ad.d[1] + bd.d[1]; + + return ((qword)(dd.v)); +} + +/* Add word extended + */ +#define si_addx(_a, _b, _c) ((qword)(vec_add(vec_add((vec_uint4)(_a), (vec_uint4)(_b)), \ + vec_and((vec_uint4)(_c), vec_splat_u32(1))))) + + +/* Bit-wise AND + */ +#define si_and(_a, _b) ((qword)(vec_and((vec_uint4)(_a), (vec_uint4)(_b)))) + + +static __inline qword si_andbi(qword a, signed char b) +{ + return ((qword)(vec_and((vec_char16)(a), + vec_splat((vec_char16)(si_from_char(b)), 3)))); +} + +static __inline qword si_andhi(qword a, signed short b) +{ + return ((qword)(vec_and((vec_short8)(a), + vec_splat((vec_short8)(si_from_short(b)), 1)))); +} + + +static __inline qword si_andi(qword a, signed int b) +{ + return ((qword)(vec_and((vec_int4)(a), + vec_splat((vec_int4)(si_from_int(b)), 0)))); +} + + +/* Bit-wise AND with complement + */ +#define si_andc(_a, _b) ((qword)(vec_andc((vec_uchar16)(_a), (vec_uchar16)(_b)))) + + +/* Average byte vectors + */ +#define si_avgb(_a, _b) ((qword)(vec_avg((vec_uchar16)(_a), (vec_uchar16)(_b)))) + + +/* Branch indirect and set link on external data + */ +#define si_bisled(_func) /* not mappable */ +#define si_bisledd(_func) /* not mappable */ +#define si_bislede(_func) /* not mappable */ + + +/* Borrow generate + */ +#define si_bg(_a, _b) ((qword)(vec_subc((vec_uint4)(_b), (vec_uint4)(_a)))) + +#define si_bgx(_a, _b, _c) ((qword)(vec_and(vec_or(vec_cmpgt((vec_uint4)(_b), (vec_uint4)(_a)), \ + vec_and(vec_cmpeq((vec_uint4)(_b), (vec_uint4)(_a)), \ + (vec_uint4)(_c))), vec_splat_u32(1)))) + +/* Compare absolute equal + */ +static __inline qword si_fcmeq(qword a, qword b) +{ + vec_float4 msb = (vec_float4)((vec_uint4){0x80000000, 0x80000000, 0x80000000, 0x80000000}); + + return ((qword)(vec_cmpeq(vec_andc((vec_float4)(a), msb), + vec_andc((vec_float4)(b), msb)))); +} + +static __inline qword si_dfcmeq(qword a, qword b) +{ + vec_uint4 sign_mask= (vec_uint4) { 0x7FFFFFFF, 0xFFFFFFFF, 0x7FFFFFFF, 0xFFFFFFFF }; + vec_uint4 nan_mask = (vec_uint4) { 0x7FF00000, 0x00000000, 0x7FF00000, 0x00000000 }; + vec_uchar16 hihi_promote = (vec_uchar16) { 0,1,2,3, 16,17,18,19, 8,9,10,11, 24,25,26,27}; + + vec_uint4 biteq; + vec_uint4 aabs; + vec_uint4 babs; + vec_uint4 a_gt; + vec_uint4 ahi_inf; + vec_uint4 anan; + vec_uint4 result; + + union { + vec_uchar16 v; + int i[4]; + } x; + + /* Shift 4 bytes */ + x.i[3] = 4 << 3; + + /* Mask out sign bits */ + aabs = vec_and((vec_uint4)a,sign_mask); + babs = vec_and((vec_uint4)b,sign_mask); + + /* A) Check for bit equality, store in high word */ + biteq = (vec_uint4) vec_cmpeq((vec_uint4)aabs,(vec_uint4)babs); + biteq = vec_and(biteq,(vec_uint4)vec_slo((vec_uchar16)biteq,x.v)); + + /* + B) Check if a is NaN, store in high word + + B1) If the high word is greater than max_exp (indicates a NaN) + B2) If the low word is greater than 0 + */ + a_gt = (vec_uint4)vec_cmpgt(aabs,nan_mask); + + /* B3) Check if the high word is equal to the inf exponent */ + ahi_inf = (vec_uint4)vec_cmpeq(aabs,nan_mask); + + /* anan = B1[hi] or (B2[lo] and B3[hi]) */ + anan = (vec_uint4)vec_or(a_gt,vec_and((vec_uint4)vec_slo((vec_uchar16)a_gt,x.v),ahi_inf)); + + /* result = A and not B */ + result = vec_andc(biteq, anan); + + /* Promote high words to 64 bits and return */ + return ((qword)(vec_perm((vec_uchar16)result, (vec_uchar16)result, hihi_promote))); +} + + +/* Compare absolute greater than + */ +static __inline qword si_fcmgt(qword a, qword b) +{ + vec_float4 msb = (vec_float4)((vec_uint4){0x80000000, 0x80000000, 0x80000000, 0x80000000}); + + return ((qword)(vec_cmpgt(vec_andc((vec_float4)(a), msb), + vec_andc((vec_float4)(b), msb)))); +} + +static __inline qword si_dfcmgt(qword a, qword b) +{ + vec_uchar16 splat_hi = (vec_uchar16) { 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 }; + vec_uint4 nan_mask = (vec_uint4) { 0x7FF00000, 0x0, 0x7FF00000, 0x0 }; + vec_uint4 sign_mask = (vec_uint4) { 0x7FFFFFFF, 0xFFFFFFFF, 0x7FFFFFFF, 0xFFFFFFFF }; + + union { + vec_uchar16 v; + int i[4]; + } x; + + /* Shift 4 bytes */ + x.i[3] = 4 << 3; + + // absolute value of a,b + vec_uint4 aabs = vec_and((vec_uint4)a, sign_mask); + vec_uint4 babs = vec_and((vec_uint4)b, sign_mask); + + // check if a is nan + vec_uint4 a_inf = (vec_uint4)vec_cmpeq(aabs, nan_mask); + vec_uint4 a_nan = (vec_uint4)vec_cmpgt(aabs, nan_mask); + a_nan = vec_or(a_nan, vec_and((vec_uint4)vec_slo((vec_uchar16)a_nan,x.v),a_inf)); + a_nan = (vec_uint4)vec_perm((vec_uchar16)a_nan, (vec_uchar16)a_nan, splat_hi); + + // check if b is nan + vec_uint4 b_inf = (vec_uint4)vec_cmpeq(babs, nan_mask); + vec_uint4 b_nan = (vec_uint4)vec_cmpgt(babs, nan_mask); + b_nan = vec_or(b_nan, vec_and((vec_uint4)vec_slo((vec_uchar16)b_nan,x.v),b_inf)); + b_nan = (vec_uint4)vec_perm((vec_uchar16)b_nan, (vec_uchar16)b_nan, splat_hi); + + // A) Check if the exponents are different + vec_uint4 gt_hi = (vec_uint4)vec_cmpgt(aabs,babs); + + // B) Check if high word equal, and low word greater + vec_uint4 gt_lo = (vec_uint4)vec_cmpgt((vec_uint4)aabs, (vec_uint4)babs); + vec_uint4 eq = (vec_uint4)vec_cmpeq(aabs, babs); + vec_uint4 eqgt = vec_and(eq,vec_slo(gt_lo,x.v)); + + // If either A or B is true, return true (unless NaNs detected) + vec_uint4 r = vec_or(gt_hi, eqgt); + + // splat the high words of the comparison step + r = (vec_uint4)vec_perm((vec_uchar16)r,(vec_uchar16)r,splat_hi); + + // correct for NaNs in input + return ((qword)vec_andc(r,vec_or(a_nan,b_nan))); +} + + +/* Compare equal + */ +static __inline qword si_ceqb(qword a, qword b) +{ + return ((qword)(vec_cmpeq((vec_uchar16)(a), (vec_uchar16)(b)))); +} + +static __inline qword si_ceqh(qword a, qword b) +{ + return ((qword)(vec_cmpeq((vec_ushort8)(a), (vec_ushort8)(b)))); +} + +static __inline qword si_ceq(qword a, qword b) +{ + return ((qword)(vec_cmpeq((vec_uint4)(a), (vec_uint4)(b)))); +} + +static __inline qword si_fceq(qword a, qword b) +{ + return ((qword)(vec_cmpeq((vec_float4)(a), (vec_float4)(b)))); +} + +static __inline qword si_ceqbi(qword a, signed char b) +{ + return ((qword)(vec_cmpeq((vec_char16)(a), + vec_splat((vec_char16)(si_from_char(b)), 3)))); +} + +static __inline qword si_ceqhi(qword a, signed short b) +{ + return ((qword)(vec_cmpeq((vec_short8)(a), + vec_splat((vec_short8)(si_from_short(b)), 1)))); +} + +static __inline qword si_ceqi(qword a, signed int b) +{ + return ((qword)(vec_cmpeq((vec_int4)(a), + vec_splat((vec_int4)(si_from_int(b)), 0)))); +} + +static __inline qword si_dfceq(qword a, qword b) +{ + vec_uint4 sign_mask= (vec_uint4) { 0x7FFFFFFF, 0xFFFFFFFF, 0x7FFFFFFF, 0xFFFFFFFF }; + vec_uint4 nan_mask = (vec_uint4) { 0x7FF00000, 0x00000000, 0x7FF00000, 0x00000000 }; + vec_uchar16 hihi_promote = (vec_uchar16) { 0,1,2,3, 16,17,18,19, 8,9,10,11, 24,25,26,27}; + + vec_uint4 biteq; + vec_uint4 aabs; + vec_uint4 babs; + vec_uint4 a_gt; + vec_uint4 ahi_inf; + vec_uint4 anan; + vec_uint4 iszero; + vec_uint4 result; + + union { + vec_uchar16 v; + int i[4]; + } x; + + /* Shift 4 bytes */ + x.i[3] = 4 << 3; + + /* A) Check for bit equality, store in high word */ + biteq = (vec_uint4) vec_cmpeq((vec_uint4)a,(vec_uint4)b); + biteq = vec_and(biteq,(vec_uint4)vec_slo((vec_uchar16)biteq,x.v)); + + /* Mask out sign bits */ + aabs = vec_and((vec_uint4)a,sign_mask); + babs = vec_and((vec_uint4)b,sign_mask); + + /* + B) Check if a is NaN, store in high word + + B1) If the high word is greater than max_exp (indicates a NaN) + B2) If the low word is greater than 0 + */ + a_gt = (vec_uint4)vec_cmpgt(aabs,nan_mask); + + /* B3) Check if the high word is equal to the inf exponent */ + ahi_inf = (vec_uint4)vec_cmpeq(aabs,nan_mask); + + /* anan = B1[hi] or (B2[lo] and B3[hi]) */ + anan = (vec_uint4)vec_or(a_gt,vec_and((vec_uint4)vec_slo((vec_uchar16)a_gt,x.v),ahi_inf)); + + /* C) Check for 0 = -0 special case */ + iszero =(vec_uint4)vec_cmpeq((vec_uint4)vec_or(aabs,babs),(vec_uint4)vec_splat_u32(0)); + iszero = vec_and(iszero,(vec_uint4)vec_slo((vec_uchar16)iszero,x.v)); + + /* result = (A or C) and not B */ + result = vec_or(biteq,iszero); + result = vec_andc(result, anan); + + /* Promote high words to 64 bits and return */ + return ((qword)(vec_perm((vec_uchar16)result, (vec_uchar16)result, hihi_promote))); +} + + +/* Compare greater than + */ +static __inline qword si_cgtb(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_char16)(a), (vec_char16)(b)))); +} + +static __inline qword si_cgth(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_short8)(a), (vec_short8)(b)))); +} + +static __inline qword si_cgt(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_int4)(a), (vec_int4)(b)))); +} + +static __inline qword si_clgtb(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_uchar16)(a), (vec_uchar16)(b)))); +} + +static __inline qword si_clgth(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_ushort8)(a), (vec_ushort8)(b)))); +} + +static __inline qword si_clgt(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_uint4)(a), (vec_uint4)(b)))); +} + +static __inline qword si_fcgt(qword a, qword b) +{ + return ((qword)(vec_cmpgt((vec_float4)(a), (vec_float4)(b)))); +} + +static __inline qword si_dfcgt(qword a, qword b) +{ + vec_uchar16 splat_hi = (vec_uchar16) { 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 }; + vec_uchar16 borrow_shuffle = (vec_uchar16) { 4,5,6,7, 192,192,192,192, 12,13,14,15, 192,192,192,192 }; + vec_uint4 nan_mask = (vec_uint4) { 0x7FF00000, 0x0, 0x7FF00000, 0x0 }; + vec_uint4 sign_mask = (vec_uint4) { 0x7FFFFFFF, 0xFFFFFFFF, 0x7FFFFFFF, 0xFFFFFFFF }; + + union { + vec_uchar16 v; + int i[4]; + } x; + + /* Shift 4 bytes */ + x.i[3] = 4 << 3; + + // absolute value of a,b + vec_uint4 aabs = vec_and((vec_uint4)a, sign_mask); + vec_uint4 babs = vec_and((vec_uint4)b, sign_mask); + + // check if a is nan + vec_uint4 a_inf = (vec_uint4)vec_cmpeq(aabs, nan_mask); + vec_uint4 a_nan = (vec_uint4)vec_cmpgt(aabs, nan_mask); + a_nan = vec_or(a_nan, vec_and((vec_uint4)vec_slo((vec_uchar16)a_nan,x.v),a_inf)); + a_nan = (vec_uint4)vec_perm((vec_uchar16)a_nan, (vec_uchar16)a_nan, splat_hi); + + // check if b is nan + vec_uint4 b_inf = (vec_uint4)vec_cmpeq(babs, nan_mask); + vec_uint4 b_nan = (vec_uint4)vec_cmpgt(babs, nan_mask); + b_nan = vec_or(b_nan, vec_and((vec_uint4)vec_slo((vec_uchar16)b_nan,x.v),b_inf)); + b_nan = (vec_uint4)vec_perm((vec_uchar16)b_nan, (vec_uchar16)b_nan, splat_hi); + + // sign of a + vec_uint4 asel = (vec_uint4)vec_sra((vec_int4)(a), (vec_uint4)vec_splat(((vec_uint4)si_from_int(31)), 0)); + asel = (vec_uint4)vec_perm((vec_uchar16)asel,(vec_uchar16)asel,splat_hi); + + // sign of b + vec_uint4 bsel = (vec_uint4)vec_sra((vec_int4)(b), (vec_uint4)vec_splat(((vec_uint4)si_from_int(31)), 0)); + bsel = (vec_uint4)vec_perm((vec_uchar16)bsel,(vec_uchar16)bsel,splat_hi); + + // negative a + vec_uint4 abor = vec_subc((vec_uint4)vec_splat_u32(0), aabs); + vec_uchar16 pat = vec_sel(((vec_uchar16){0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10,11,12,13,14,15}), vec_sr(borrow_shuffle, vec_splat_u8(3)), vec_sra(borrow_shuffle, vec_splat_u8(7))); + abor = (vec_uint4)(vec_perm(vec_perm((vec_uchar16)abor, (vec_uchar16)abor, borrow_shuffle),((vec_uchar16){0, 0, 0, 0, 0, 0, 0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80, 0x80, 0x80}),pat)); + vec_uint4 aneg = vec_add(vec_add(vec_splat_u32(0), vec_nor(aabs, aabs)), vec_and(abor, vec_splat_u32(1))); + + // pick the one we want + vec_int4 aval = (vec_int4)vec_sel((vec_uchar16)aabs, (vec_uchar16)aneg, (vec_uchar16)asel); + + // negative b + vec_uint4 bbor = vec_subc((vec_uint4)vec_splat_u32(0), babs); + bbor = (vec_uint4)(vec_perm(vec_perm((vec_uchar16)bbor, (vec_uchar16)bbor, borrow_shuffle),((vec_uchar16){0, 0, 0, 0, 0, 0, 0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80, 0x80, 0x80}),pat)); + vec_uint4 bneg = vec_add(vec_nor(babs, babs), vec_and(bbor, vec_splat_u32(1))); + + // pick the one we want + vec_int4 bval=(vec_int4)vec_sel((vec_uchar16)babs, (vec_uchar16)bneg, (vec_uchar16)bsel); + + // A) Check if the exponents are different + vec_uint4 gt_hi = (vec_uint4)vec_cmpgt(aval,bval); + + // B) Check if high word equal, and low word greater + vec_uint4 gt_lo = (vec_uint4)vec_cmpgt((vec_uint4)aval, (vec_uint4)bval); + vec_uint4 eq = (vec_uint4)vec_cmpeq(aval, bval); + vec_uint4 eqgt = vec_and(eq,vec_slo(gt_lo,x.v)); + + // If either A or B is true, return true (unless NaNs detected) + vec_uint4 r = vec_or(gt_hi, eqgt); + + // splat the high words of the comparison step + r = (vec_uint4)vec_perm((vec_uchar16)r,(vec_uchar16)r,splat_hi); + + // correct for NaNs in input + return ((qword)vec_andc(r,vec_or(a_nan,b_nan))); +} + +static __inline qword si_cgtbi(qword a, signed char b) +{ + return ((qword)(vec_cmpgt((vec_char16)(a), + vec_splat((vec_char16)(si_from_char(b)), 3)))); +} + +static __inline qword si_cgthi(qword a, signed short b) +{ + return ((qword)(vec_cmpgt((vec_short8)(a), + vec_splat((vec_short8)(si_from_short(b)), 1)))); +} + +static __inline qword si_cgti(qword a, signed int b) +{ + return ((qword)(vec_cmpgt((vec_int4)(a), + vec_splat((vec_int4)(si_from_int(b)), 0)))); +} + +static __inline qword si_clgtbi(qword a, unsigned char b) +{ + return ((qword)(vec_cmpgt((vec_uchar16)(a), + vec_splat((vec_uchar16)(si_from_uchar(b)), 3)))); +} + +static __inline qword si_clgthi(qword a, unsigned short b) +{ + return ((qword)(vec_cmpgt((vec_ushort8)(a), + vec_splat((vec_ushort8)(si_from_ushort(b)), 1)))); +} + +static __inline qword si_clgti(qword a, unsigned int b) +{ + return ((qword)(vec_cmpgt((vec_uint4)(a), + vec_splat((vec_uint4)(si_from_uint(b)), 0)))); +} + +static __inline qword si_dftsv(qword a, char b) +{ + vec_uchar16 splat_hi = (vec_uchar16) { 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 }; + vec_uint4 sign_mask = (vec_uint4) { 0x7FFFFFFF, 0xFFFFFFFF, 0x7FFFFFFF, 0xFFFFFFFF }; + vec_uint4 result = (vec_uint4){0}; + vec_uint4 sign = (vec_uint4)vec_sra((vec_int4)(a), (vec_uint4)vec_splat(((vec_uint4)si_from_int(31)), 0)); + sign = (vec_uint4)vec_perm((vec_uchar16)sign,(vec_uchar16)sign,splat_hi); + vec_uint4 aabs = vec_and((vec_uint4)a,sign_mask); + + union { + vec_uchar16 v; + int i[4]; + } x; + + /* Shift 4 bytes */ + x.i[3] = 4 << 3; + + /* Nan or +inf or -inf */ + if (b & 0x70) + { + vec_uint4 nan_mask = (vec_uint4) { 0x7FF00000, 0x0, 0x7FF00000, 0x0 }; + vec_uint4 a_inf = (vec_uint4)vec_cmpeq(aabs, nan_mask); + /* NaN */ + if (b & 0x40) + { + vec_uint4 a_nan = (vec_uint4)vec_cmpgt(aabs, nan_mask); + a_nan = vec_or(a_nan, vec_and((vec_uint4)vec_slo((vec_uchar16)a_nan,x.v),a_inf)); + a_nan = (vec_uint4)vec_perm((vec_uchar16)a_nan, (vec_uchar16)a_nan, splat_hi); + result = vec_or(result, a_nan); + } + /* inf */ + if (b & 0x30) + { + a_inf = vec_and((vec_uint4)vec_slo((vec_uchar16)a_inf,x.v), a_inf); + a_inf = (vec_uint4)vec_perm((vec_uchar16)a_inf, (vec_uchar16)a_inf, splat_hi); + /* +inf */ + if (b & 0x20) + result = vec_or(vec_andc(a_inf, sign), result); + /* -inf */ + if (b & 0x10) + result = vec_or(vec_and(a_inf, sign), result); + } + } + /* 0 or denorm */ + if (b & 0xF) + { + vec_uint4 iszero =(vec_uint4)vec_cmpeq(aabs,(vec_uint4)vec_splat_u32(0)); + iszero = vec_and(iszero,(vec_uint4)vec_slo((vec_uchar16)iszero,x.v)); + /* denorm */ + if (b & 0x3) + { + vec_uint4 denorm_mask = (vec_uint4){0xFFFFF, 0xFFFFF, 0xFFFFF, 0xFFFFF}; + vec_uint4 isdenorm = vec_nor((vec_uint4)vec_cmpgt(aabs, denorm_mask), iszero); + isdenorm = (vec_uint4)vec_perm((vec_uchar16)isdenorm, (vec_uchar16)isdenorm, splat_hi); + /* +denorm */ + if (b & 0x2) + result = vec_or(vec_andc(isdenorm, sign), result); + /* -denorm */ + if (b & 0x1) + result = vec_or(vec_and(isdenorm, sign), result); + } + /* 0 */ + if (b & 0xC) + { + iszero = (vec_uint4)vec_perm((vec_uchar16)iszero, (vec_uchar16)iszero, splat_hi); + /* +0 */ + if (b & 0x8) + result = vec_or(vec_andc(iszero, sign), result); + /* -0 */ + if (b & 0x4) + result = vec_or(vec_and(iszero, sign), result); + } + } + return ((qword)result); +} + + +/* Carry generate + */ +#define si_cg(_a, _b) ((qword)(vec_addc((vec_uint4)(_a), (vec_uint4)(_b)))) + +#define si_cgx(_a, _b, _c) ((qword)(vec_or(vec_addc((vec_uint4)(_a), (vec_uint4)(_b)), \ + vec_addc(vec_add((vec_uint4)(_a), (vec_uint4)(_b)), \ + vec_and((vec_uint4)(_c), vec_splat_u32(1)))))) + + +/* Count ones for bytes + */ +static __inline qword si_cntb(qword a) +{ + vec_uchar16 nib_cnt = (vec_uchar16){0, 1, 1, 2, 1, 2, 2, 3, 1, 2, 2, 3, 2, 3, 3, 4}; + vec_uchar16 four = { 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4 }; + vec_uchar16 av; + + av = (vec_uchar16)(a); + + return ((qword)(vec_add(vec_perm(nib_cnt, nib_cnt, av), + vec_perm(nib_cnt, nib_cnt, vec_sr (av, four))))); +} + +/* Count ones for bytes + */ +static __inline qword si_clz(qword a) +{ + vec_uchar16 av; + vec_uchar16 cnt_hi, cnt_lo, cnt, tmp1, tmp2, tmp3; + vec_uchar16 four = vec_splat_u8(4); + vec_uchar16 nib_cnt = (vec_uchar16){4, 3, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0}; + vec_uchar16 eight = vec_splat_u8(8); + vec_uchar16 sixteen = (vec_uchar16){16,16,16,16,16,16,16,16,16,16,16,16,16,16,16,16}; + vec_uchar16 twentyfour = (vec_uchar16){24,24,24,24,24,24,24,24,24,24,24,24,24,24,24,24}; + + av = (vec_uchar16)(a); + + cnt_hi = vec_perm(nib_cnt, nib_cnt, vec_sr(av, four)); + cnt_lo = vec_perm(nib_cnt, nib_cnt, av); + + cnt = vec_add(cnt_hi, vec_and(cnt_lo, vec_cmpeq(cnt_hi, four))); + + tmp1 = (vec_uchar16)vec_sl((vec_uint4)(cnt), (vec_uint4)(eight)); + tmp2 = (vec_uchar16)vec_sl((vec_uint4)(cnt), (vec_uint4)(sixteen)); + tmp3 = (vec_uchar16)vec_sl((vec_uint4)(cnt), (vec_uint4)(twentyfour)); + + cnt = vec_add(cnt, vec_and(tmp1, vec_cmpeq(cnt, eight))); + cnt = vec_add(cnt, vec_and(tmp2, vec_cmpeq(cnt, sixteen))); + cnt = vec_add(cnt, vec_and(tmp3, vec_cmpeq(cnt, twentyfour))); + + return (qword)((vec_sr((vec_uint4)(cnt), (vec_uint4)(twentyfour)))); +} + +/* Convert to float + */ +#define si_cuflt(_a, _b) ((qword)(vec_ctf((vec_uint4)(_a), _b))) +#define si_csflt(_a, _b) ((qword)(vec_ctf((vec_int4)(_a), _b))) + +/* Convert to signed int + */ +#define si_cflts(_a, _b) ((qword)(vec_cts((vec_float4)(_a), _b))) + +/* Convert to unsigned int + */ +#define si_cfltu(_a, _b) ((qword)(vec_ctu((vec_float4)(_a), _b))) + +/* Synchronize + */ +#define si_dsync() /* do nothing */ +#define si_sync() /* do nothing */ +#define si_syncc() /* do nothing */ + + +/* Equivalence + */ +static __inline qword si_eqv(qword a, qword b) +{ + vec_uchar16 d; + + d = vec_xor((vec_uchar16)(a), (vec_uchar16)(b)); + return ((qword)(vec_nor(d, d))); +} + +/* Extend + */ +static __inline qword si_xsbh(qword a) +{ + vec_char16 av; + + av = (vec_char16)(a); + return ((qword)(vec_unpackh(vec_perm(av, av, ((vec_uchar16){1, 3, 5, 7, 9,11,13,15, + 0, 0, 0, 0, 0, 0, 0, 0}))))); +} + +static __inline qword si_xshw(qword a) +{ + vec_short8 av; + + av = (vec_short8)(a); + return ((qword)(vec_unpackh(vec_perm(av, av, ((vec_uchar16){2, 3, 6, 7, + 10,11,14,15, + 0, 0, 0, 0, + 0, 0, 0, 0}))))); +} + +static __inline qword si_xswd(qword a) +{ + vec_int4 av; + + av = (vec_int4)(a); + return ((qword)(vec_perm(av, vec_sra(av, ((vec_uint4){31,31,31,31})), + ((vec_uchar16){20, 21, 22, 23, + 4, 5, 6, 7, + 28, 29, 30, 31, + 12, 13, 14, 15})))); +} + +static __inline qword si_fesd(qword a) +{ + union { + double d[2]; + vec_double2 vd; + } out; + union { + float f[4]; + vec_float4 vf; + } in; + + in.vf = (vec_float4)(a); + out.d[0] = (double)(in.f[0]); + out.d[1] = (double)(in.f[2]); + return ((qword)(out.vd)); +} + +/* Gather + */ +static __inline qword si_gbb(qword a) +{ + vec_uchar16 bits; + vec_uint4 bytes; + + bits = vec_sl(vec_and((vec_uchar16)(a), vec_splat_u8(1)), ((vec_uchar16){7, 6, 5, 4, 3, 2, 1, 0, + 7, 6, 5, 4, 3, 2, 1, 0})); + bytes = (vec_uint4)vec_sum2s((vec_int4)(vec_sum4s(bits, ((vec_uint4){0}))), ((vec_int4){0})); + + return ((qword)(vec_perm(bytes, bytes, ((vec_uchar16){0, 0, 7,15, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0})))); +} + + +static __inline qword si_gbh(qword a) +{ + vec_ushort8 bits; + vec_uint4 bytes; + + bits = vec_sl(vec_and((vec_ushort8)(a), vec_splat_u16(1)), ((vec_ushort8){7, 6, 5, 4, 3, 2, 1, 0})); + + bytes = (vec_uint4)vec_sums((vec_int4)(vec_sum4s((vec_short8)(bits), (vec_int4){0})), (vec_int4){0}); + + return ((qword)(vec_sld(bytes, bytes, 12))); +} + +static __inline qword si_gb(qword a) +{ + vec_uint4 bits; + vec_uint4 bytes; + + bits = vec_sl(vec_and((vec_uint4)(a), vec_splat_u32(1)), ((vec_uint4){3, 2, 1, 0})); + bytes = (vec_uint4)vec_sums((vec_int4)(bits), ((vec_int4){0})); + return ((qword)(vec_sld(bytes, bytes, 12))); +} + + +/* Compare and halt + */ +static __inline void si_heq(qword a, qword b) +{ + union { + vector unsigned int v; + unsigned int i[4]; + } aa, bb; + + aa.v = (vector unsigned int)(a); + bb.v = (vector unsigned int)(b); + + if (aa.i[0] == bb.i[0]) { SPU_HALT_ACTION; }; +} + +static __inline void si_heqi(qword a, unsigned int b) +{ + union { + vector unsigned int v; + unsigned int i[4]; + } aa; + + aa.v = (vector unsigned int)(a); + + if (aa.i[0] == b) { SPU_HALT_ACTION; }; +} + +static __inline void si_hgt(qword a, qword b) +{ + union { + vector signed int v; + signed int i[4]; + } aa, bb; + + aa.v = (vector signed int)(a); + bb.v = (vector signed int)(b); + + if (aa.i[0] > bb.i[0]) { SPU_HALT_ACTION; }; +} + +static __inline void si_hgti(qword a, signed int b) +{ + union { + vector signed int v; + signed int i[4]; + } aa; + + aa.v = (vector signed int)(a); + + if (aa.i[0] > b) { SPU_HALT_ACTION; }; +} + +static __inline void si_hlgt(qword a, qword b) +{ + union { + vector unsigned int v; + unsigned int i[4]; + } aa, bb; + + aa.v = (vector unsigned int)(a); + bb.v = (vector unsigned int)(b); + + if (aa.i[0] > bb.i[0]) { SPU_HALT_ACTION; }; +} + +static __inline void si_hlgti(qword a, unsigned int b) +{ + union { + vector unsigned int v; + unsigned int i[4]; + } aa; + + aa.v = (vector unsigned int)(a); + + if (aa.i[0] > b) { SPU_HALT_ACTION; }; +} + + +/* Multiply and Add + */ +static __inline qword si_mpya(qword a, qword b, qword c) +{ + return ((qword)(vec_msum(vec_and((vec_short8)(a), + ((vec_short8){0, -1, 0, -1, 0, -1, 0, -1})), + (vec_short8)(b), (vec_int4)(c)))); +} + +static __inline qword si_fma(qword a, qword b, qword c) +{ + return ((qword)(vec_madd((vec_float4)(a), (vec_float4)(b), (vec_float4)(c)))); +} + +static __inline qword si_dfma(qword a, qword b, qword c) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, cc, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + cc.v = (vec_double2)(c); + dd.d[0] = aa.d[0] * bb.d[0] + cc.d[0]; + dd.d[1] = aa.d[1] * bb.d[1] + cc.d[1]; + return ((qword)(dd.v)); +} + +/* Form Mask + */ +#define si_fsmbi(_a) si_fsmb(si_from_int(_a)) + +static __inline qword si_fsmb(qword a) +{ + vec_char16 mask; + vec_ushort8 in; + + in = (vec_ushort8)(a); + mask = (vec_char16)(vec_perm(in, in, ((vec_uchar16){2, 2, 2, 2, 2, 2, 2, 2, + 3, 3, 3, 3, 3, 3, 3, 3}))); + return ((qword)(vec_sra(vec_sl(mask, ((vec_uchar16){0, 1, 2, 3, 4, 5, 6, 7, + 0, 1, 2, 3, 4, 5, 6, 7})), + vec_splat_u8(7)))); +} + + +static __inline qword si_fsmh(qword a) +{ + vec_uchar16 in; + vec_short8 mask; + + in = (vec_uchar16)(a); + mask = (vec_short8)(vec_splat(in, 3)); + return ((qword)(vec_sra(vec_sl(mask, ((vec_ushort8){0, 1, 2, 3, 4, 5, 6, 7})), + vec_splat_u16(15)))); +} + +static __inline qword si_fsm(qword a) +{ + vec_uchar16 in; + vec_int4 mask; + + in = (vec_uchar16)(a); + mask = (vec_int4)(vec_splat(in, 3)); + return ((qword)(vec_sra(vec_sl(mask, ((vec_uint4){28, 29, 30, 31})), + ((vec_uint4){31,31,31,31})))); +} + +/* Move from/to registers + */ +#define si_fscrrd() ((qword)((vec_uint4){0})) +#define si_fscrwr(_a) + +#define si_mfspr(_reg) ((qword)((vec_uint4){0})) +#define si_mtspr(_reg, _a) + +/* Multiply High High Add + */ +static __inline qword si_mpyhha(qword a, qword b, qword c) +{ + return ((qword)(vec_add(vec_mule((vec_short8)(a), (vec_short8)(b)), (vec_int4)(c)))); +} + +static __inline qword si_mpyhhau(qword a, qword b, qword c) +{ + return ((qword)(vec_add(vec_mule((vec_ushort8)(a), (vec_ushort8)(b)), (vec_uint4)(c)))); +} + +/* Multiply Subtract + */ +static __inline qword si_fms(qword a, qword b, qword c) +{ + return ((qword)(vec_madd((vec_float4)(a), (vec_float4)(b), + vec_sub(((vec_float4){0.0f}), (vec_float4)(c))))); +} + +static __inline qword si_dfms(qword a, qword b, qword c) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, cc, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + cc.v = (vec_double2)(c); + dd.d[0] = aa.d[0] * bb.d[0] - cc.d[0]; + dd.d[1] = aa.d[1] * bb.d[1] - cc.d[1]; + return ((qword)(dd.v)); +} + +/* Multiply + */ +static __inline qword si_fm(qword a, qword b) +{ + return ((qword)(vec_madd((vec_float4)(a), (vec_float4)(b), ((vec_float4){0.0f})))); +} + +static __inline qword si_dfm(qword a, qword b) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + dd.d[0] = aa.d[0] * bb.d[0]; + dd.d[1] = aa.d[1] * bb.d[1]; + return ((qword)(dd.v)); +} + +/* Multiply High + */ +static __inline qword si_mpyh(qword a, qword b) +{ + vec_uint4 sixteen = (vec_uint4){16, 16, 16, 16}; + + return ((qword)(vec_sl(vec_mule((vec_short8)(a), (vec_short8)(vec_sl((vec_uint4)(b), sixteen))), sixteen))); +} + + +/* Multiply High High + */ +static __inline qword si_mpyhh(qword a, qword b) +{ + return ((qword)(vec_mule((vec_short8)(a), (vec_short8)(b)))); +} + +static __inline qword si_mpyhhu(qword a, qword b) +{ + return ((qword)(vec_mule((vec_ushort8)(a), (vec_ushort8)(b)))); +} + +/* Multiply Odd + */ +static __inline qword si_mpy(qword a, qword b) +{ + return ((qword)(vec_mulo((vec_short8)(a), (vec_short8)(b)))); +} + +static __inline qword si_mpyu(qword a, qword b) +{ + return ((qword)(vec_mulo((vec_ushort8)(a), (vec_ushort8)(b)))); +} + +static __inline qword si_mpyi(qword a, short b) +{ + return ((qword)(vec_mulo((vec_short8)(a), + vec_splat((vec_short8)(si_from_short(b)), 1)))); +} + +static __inline qword si_mpyui(qword a, unsigned short b) +{ + return ((qword)(vec_mulo((vec_ushort8)(a), + vec_splat((vec_ushort8)(si_from_ushort(b)), 1)))); +} + +/* Multiply and Shift Right + */ +static __inline qword si_mpys(qword a, qword b) +{ + return ((qword)(vec_sra(vec_mulo((vec_short8)(a), (vec_short8)(b)), ((vec_uint4){16,16,16,16})))); +} + +/* Nand + */ +static __inline qword si_nand(qword a, qword b) +{ + vec_uchar16 d; + + d = vec_and((vec_uchar16)(a), (vec_uchar16)(b)); + return ((qword)(vec_nor(d, d))); +} + +/* Negative Multiply Add + */ +static __inline qword si_dfnma(qword a, qword b, qword c) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, cc, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + cc.v = (vec_double2)(c); + dd.d[0] = -cc.d[0] - aa.d[0] * bb.d[0]; + dd.d[1] = -cc.d[1] - aa.d[1] * bb.d[1]; + return ((qword)(dd.v)); +} + +/* Negative Multiply and Subtract + */ +static __inline qword si_fnms(qword a, qword b, qword c) +{ + return ((qword)(vec_nmsub((vec_float4)(a), (vec_float4)(b), (vec_float4)(c)))); +} + +static __inline qword si_dfnms(qword a, qword b, qword c) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, cc, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + cc.v = (vec_double2)(c); + dd.d[0] = cc.d[0] - aa.d[0] * bb.d[0]; + dd.d[1] = cc.d[1] - aa.d[1] * bb.d[1]; + return ((qword)(dd.v)); +} + +/* Nor + */ +static __inline qword si_nor(qword a, qword b) +{ + return ((qword)(vec_nor((vec_uchar16)(a), (vec_uchar16)(b)))); +} + +/* Or + */ +static __inline qword si_or(qword a, qword b) +{ + return ((qword)(vec_or((vec_uchar16)(a), (vec_uchar16)(b)))); +} + +static __inline qword si_orbi(qword a, unsigned char b) +{ + return ((qword)(vec_or((vec_uchar16)(a), + vec_splat((vec_uchar16)(si_from_uchar(b)), 3)))); +} + +static __inline qword si_orhi(qword a, unsigned short b) +{ + return ((qword)(vec_or((vec_ushort8)(a), + vec_splat((vec_ushort8)(si_from_ushort(b)), 1)))); +} + +static __inline qword si_ori(qword a, unsigned int b) +{ + return ((qword)(vec_or((vec_uint4)(a), + vec_splat((vec_uint4)(si_from_uint(b)), 0)))); +} + +/* Or Complement + */ +static __inline qword si_orc(qword a, qword b) +{ + return ((qword)(vec_or((vec_uchar16)(a), vec_nor((vec_uchar16)(b), (vec_uchar16)(b))))); +} + + +/* Or Across + */ +static __inline qword si_orx(qword a) +{ + vec_uchar16 tmp; + tmp = (vec_uchar16)(a); + tmp = vec_or(tmp, vec_sld(tmp, tmp, 8)); + tmp = vec_or(tmp, vec_sld(tmp, tmp, 4)); + return ((qword)(vec_and(tmp, ((vec_uchar16){0xFF,0xFF,0xFF,0xFF, 0x00,0x00,0x00,0x00, + 0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00})))); +} + + +/* Estimates + */ +static __inline qword si_frest(qword a) +{ + return ((qword)(vec_re((vec_float4)(a)))); +} + +static __inline qword si_frsqest(qword a) +{ + return ((qword)(vec_rsqrte((vec_float4)(a)))); +} + +#define si_fi(_a, _d) (_d) + +/* Channel Read and Write + */ +#define si_rdch(_channel) ((qword)(vec_splat_u8(0))) /* not mappable */ +#define si_rchcnt(_channel) ((qword)(vec_splat_u8(0))) /* not mappable */ +#define si_wrch(_channel, _a) /* not mappable */ + +/* Rotate Left + */ +static __inline qword si_roth(qword a, qword b) +{ + return ((qword)(vec_rl((vec_ushort8)(a), (vec_ushort8)(b)))); +} + +static __inline qword si_rot(qword a, qword b) +{ + return ((qword)(vec_rl((vec_uint4)(a), (vec_uint4)(b)))); +} + +static __inline qword si_rothi(qword a, int b) +{ + return ((qword)(vec_rl((vec_ushort8)(a), + vec_splat((vec_ushort8)(si_from_int(b)), 1)))); +} + +static __inline qword si_roti(qword a, int b) +{ + return ((qword)(vec_rl((vec_uint4)(a), + vec_splat((vec_uint4)(si_from_int(b)), 0)))); +} + +/* Rotate Left with Mask + */ +static __inline qword si_rothm(qword a, qword b) +{ + vec_ushort8 neg_b; + vec_ushort8 mask; + + neg_b = (vec_ushort8)vec_sub(vec_splat_s16(0), (vec_short8)(b)); + mask = vec_sra(vec_sl(neg_b, vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_andc(vec_sr((vec_ushort8)(a), neg_b), mask))); +} + +static __inline qword si_rotm(qword a, qword b) +{ + vec_uint4 neg_b; + vec_uint4 mask; + + neg_b = (vec_uint4)vec_sub(vec_splat_s32(0), (vec_int4)(b)); + mask = vec_sra(vec_sl(neg_b, ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_andc(vec_sr((vec_uint4)(a), neg_b), mask))); +} + +static __inline qword si_rothmi(qword a, int b) +{ + vec_ushort8 neg_b; + vec_ushort8 mask; + + neg_b = vec_splat((vec_ushort8)(si_from_int(-b)), 1); + mask = vec_sra(vec_sl(neg_b, vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_andc(vec_sr((vec_ushort8)(a), neg_b), mask))); +} + +static __inline qword si_rotmi(qword a, int b) +{ + vec_uint4 neg_b; + vec_uint4 mask; + + neg_b = vec_splat((vec_uint4)(si_from_int(-b)), 0); + mask = vec_sra(vec_sl(neg_b, ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_andc(vec_sr((vec_uint4)(a), neg_b), mask))); +} + + +/* Rotate Left Algebraic with Mask + */ +static __inline qword si_rotmah(qword a, qword b) +{ + vec_ushort8 neg_b; + vec_ushort8 mask; + + neg_b = (vec_ushort8)vec_sub(vec_splat_s16(0), (vec_short8)(b)); + mask = vec_sra(vec_sl(neg_b, vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_sra((vec_short8)(a), (vec_ushort8)vec_or(neg_b, mask)))); +} + +static __inline qword si_rotma(qword a, qword b) +{ + vec_uint4 neg_b; + vec_uint4 mask; + + neg_b = (vec_uint4)vec_sub(vec_splat_s32(0), (vec_int4)(b)); + mask = vec_sra(vec_sl(neg_b, ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_sra((vec_int4)(a), (vec_uint4)vec_or(neg_b, mask)))); +} + + +static __inline qword si_rotmahi(qword a, int b) +{ + vec_ushort8 neg_b; + vec_ushort8 mask; + + neg_b = vec_splat((vec_ushort8)(si_from_int(-b)), 1); + mask = vec_sra(vec_sl(neg_b, vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_sra((vec_short8)(a), (vec_ushort8)vec_or(neg_b, mask)))); +} + +static __inline qword si_rotmai(qword a, int b) +{ + vec_uint4 neg_b; + vec_uint4 mask; + + neg_b = vec_splat((vec_uint4)(si_from_int(-b)), 0); + mask = vec_sra(vec_sl(neg_b, ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_sra((vec_int4)(a), (vec_uint4)vec_or(neg_b, mask)))); +} + + +/* Rotate Left Quadword by Bytes with Mask + */ +static __inline qword si_rotqmbyi(qword a, int count) +{ + union { + vec_uchar16 v; + int i[4]; + } x; + vec_uchar16 mask; + + count = 0 - count; + x.i[3] = count << 3; + mask = (count & 0x10) ? vec_splat_u8(0) : vec_splat_u8(-1); + + return ((qword)(vec_and(vec_sro((vec_uchar16)(a), x.v), mask))); +} + + +static __inline qword si_rotqmby(qword a, qword count) +{ + union { + vec_uchar16 v; + int i[4]; + } x; + int cnt; + vec_uchar16 mask; + + x.v = (vec_uchar16)(count); + x.i[0] = cnt = (0 - x.i[0]) << 3; + + x.v = vec_splat(x.v, 3); + mask = (cnt & 0x80) ? vec_splat_u8(0) : vec_splat_u8(-1); + + return ((qword)(vec_and(vec_sro((vec_uchar16)(a), x.v), mask))); +} + + +/* Rotate Left Quadword by Bytes + */ +static __inline qword si_rotqbyi(qword a, int count) +{ + union { + vec_uchar16 v; + int i[4]; + } left, right; + + count <<= 3; + left.i[3] = count; + right.i[3] = 0 - count; + return ((qword)(vec_or(vec_slo((vec_uchar16)(a), left.v), vec_sro((vec_uchar16)(a), right.v)))); +} + +static __inline qword si_rotqby(qword a, qword count) +{ + vec_uchar16 left, right; + + left = vec_sl(vec_splat((vec_uchar16)(count), 3), vec_splat_u8(3)); + right = vec_sub(vec_splat_u8(0), left); + return ((qword)(vec_or(vec_slo((vec_uchar16)(a), left), vec_sro((vec_uchar16)(a), right)))); +} + +/* Rotate Left Quadword by Bytes Bit Count + */ +static __inline qword si_rotqbybi(qword a, qword count) +{ + vec_uchar16 left, right; + + left = vec_splat((vec_uchar16)(count), 3); + right = vec_sub(vec_splat_u8(7), left); + return ((qword)(vec_or(vec_slo((vec_uchar16)(a), left), vec_sro((vec_uchar16)(a), right)))); +} + + +/* Rotate Left Quadword by Bytes Bit Count + */ +static __inline qword si_rotqbii(qword a, int count) +{ + vec_uchar16 x, y; + vec_uchar16 result; + + x = vec_splat((vec_uchar16)(si_from_int(count & 7)), 3); + y = (vec_uchar16)(vec_sr((vec_uint4)vec_sro((vec_uchar16)(a), ((vec_uchar16)((vec_uint4){0,0,0,120}))), + (vec_uint4)vec_sub(vec_splat_u8(8), x))); + result = vec_or(vec_sll((qword)(a), x), y); + return ((qword)(result)); +} + +static __inline qword si_rotqbi(qword a, qword count) +{ + vec_uchar16 x, y; + vec_uchar16 result; + + x = vec_and(vec_splat((vec_uchar16)(count), 3), vec_splat_u8(7)); + y = (vec_uchar16)(vec_sr((vec_uint4)vec_sro((vec_uchar16)(a), ((vec_uchar16)((vec_uint4){0,0,0,120}))), + (vec_uint4)vec_sub(vec_splat_u8(8), x))); + + result = vec_or(vec_sll((qword)(a), x), y); + return ((qword)(result)); +} + + +/* Rotate Left Quadword and Mask by Bits + */ +static __inline qword si_rotqmbii(qword a, int count) +{ + return ((qword)(vec_srl((vec_uchar16)(a), vec_splat((vec_uchar16)(si_from_int(0 - count)), 3)))); +} + +static __inline qword si_rotqmbi(qword a, qword count) +{ + return ((qword)(vec_srl((vec_uchar16)(a), vec_sub(vec_splat_u8(0), vec_splat((vec_uchar16)(count), 3))))); +} + + +/* Rotate Left Quadword and Mask by Bytes with Bit Count + */ +static __inline qword si_rotqmbybi(qword a, qword count) +{ + union { + vec_uchar16 v; + int i[4]; + } x; + int cnt; + vec_uchar16 mask; + + x.v = (vec_uchar16)(count); + x.i[0] = cnt = 0 - (x.i[0] & ~7); + x.v = vec_splat(x.v, 3); + mask = (cnt & 0x80) ? vec_splat_u8(0) : vec_splat_u8(-1); + + return ((qword)(vec_and(vec_sro((vec_uchar16)(a), x.v), mask))); +} + + + + +/* Round Double to Float + */ +static __inline qword si_frds(qword a) +{ + union { + vec_float4 v; + float f[4]; + } d; + union { + vec_double2 v; + double d[2]; + } in; + + in.v = (vec_double2)(a); + d.v = (vec_float4){0.0f}; + d.f[0] = (float)in.d[0]; + d.f[2] = (float)in.d[1]; + + return ((qword)(d.v)); +} + +/* Select Bits + */ +static __inline qword si_selb(qword a, qword b, qword c) +{ + return ((qword)(vec_sel((vec_uchar16)(a), (vec_uchar16)(b), (vec_uchar16)(c)))); +} + + +/* Shuffle Bytes + */ +static __inline qword si_shufb(qword a, qword b, qword pattern) +{ + vec_uchar16 pat; + + pat = vec_sel(((vec_uchar16){0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10,11,12,13,14,15}), + vec_sr((vec_uchar16)(pattern), vec_splat_u8(3)), + vec_sra((vec_uchar16)(pattern), vec_splat_u8(7))); + return ((qword)(vec_perm(vec_perm(a, b, pattern), + ((vec_uchar16){0, 0, 0, 0, 0, 0, 0, 0, + 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x80, 0x80, 0x80}), + pat))); +} + + +/* Shift Left + */ +static __inline qword si_shlh(qword a, qword b) +{ + vec_ushort8 mask; + + mask = (vec_ushort8)vec_sra(vec_sl((vec_ushort8)(b), vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_andc(vec_sl((vec_ushort8)(a), (vec_ushort8)(b)), mask))); +} + +static __inline qword si_shl(qword a, qword b) +{ + vec_uint4 mask; + + mask = (vec_uint4)vec_sra(vec_sl((vec_uint4)(b), ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_andc(vec_sl((vec_uint4)(a), (vec_uint4)(b)), mask))); +} + + +static __inline qword si_shlhi(qword a, unsigned int b) +{ + vec_ushort8 mask; + vec_ushort8 bv; + + bv = vec_splat((vec_ushort8)(si_from_int(b)), 1); + mask = (vec_ushort8)vec_sra(vec_sl(bv, vec_splat_u16(11)), vec_splat_u16(15)); + return ((qword)(vec_andc(vec_sl((vec_ushort8)(a), bv), mask))); +} + +static __inline qword si_shli(qword a, unsigned int b) +{ + vec_uint4 bv; + vec_uint4 mask; + + bv = vec_splat((vec_uint4)(si_from_uint(b)), 0); + mask = (vec_uint4)vec_sra(vec_sl(bv, ((vec_uint4){26,26,26,26})), ((vec_uint4){31,31,31,31})); + return ((qword)(vec_andc(vec_sl((vec_uint4)(a), bv), mask))); +} + + +/* Shift Left Quadword + */ +static __inline qword si_shlqbii(qword a, unsigned int count) +{ + vec_uchar16 x; + + x = vec_splat((vec_uchar16)(si_from_uint(count)), 3); + return ((qword)(vec_sll((vec_uchar16)(a), x))); +} + +static __inline qword si_shlqbi(qword a, qword count) +{ + vec_uchar16 x; + + x = vec_splat((vec_uchar16)(count), 3); + return ((qword)(vec_sll((vec_uchar16)(a), x))); +} + + +/* Shift Left Quadword by Bytes + */ +static __inline qword si_shlqbyi(qword a, unsigned int count) +{ + union { + vec_uchar16 v; + int i[4]; + } x; + vec_uchar16 mask; + + x.i[3] = count << 3; + mask = (count & 0x10) ? vec_splat_u8(0) : vec_splat_u8(-1); + return ((qword)(vec_and(vec_slo((vec_uchar16)(a), x.v), mask))); +} + +static __inline qword si_shlqby(qword a, qword count) +{ + union { + vec_uchar16 v; + unsigned int i[4]; + } x; + unsigned int cnt; + vec_uchar16 mask; + + x.v = vec_sl(vec_splat((vec_uchar16)(count), 3), vec_splat_u8(3)); + cnt = x.i[0]; + mask = (cnt & 0x80) ? vec_splat_u8(0) : vec_splat_u8(-1); + return ((qword)(vec_and(vec_slo((vec_uchar16)(a), x.v), mask))); +} + +/* Shift Left Quadword by Bytes with Bit Count + */ +static __inline qword si_shlqbybi(qword a, qword count) +{ + union { + vec_uchar16 v; + int i[4]; + } x; + unsigned int cnt; + vec_uchar16 mask; + + x.v = vec_splat((vec_uchar16)(count), 3); + cnt = x.i[0]; + mask = (cnt & 0x80) ? vec_splat_u8(0) : vec_splat_u8(-1); + return ((qword)(vec_and(vec_slo((vec_uchar16)(a), x.v), mask))); +} + + +/* Stop and Signal + */ +#define si_stop(_type) SPU_STOP_ACTION +#define si_stopd(a, b, c) SPU_STOP_ACTION + + +/* Subtract + */ +static __inline qword si_sfh(qword a, qword b) +{ + return ((qword)(vec_sub((vec_ushort8)(b), (vec_ushort8)(a)))); +} + +static __inline qword si_sf(qword a, qword b) +{ + return ((qword)(vec_sub((vec_uint4)(b), (vec_uint4)(a)))); +} + +static __inline qword si_fs(qword a, qword b) +{ + return ((qword)(vec_sub((vec_float4)(a), (vec_float4)(b)))); +} + +static __inline qword si_dfs(qword a, qword b) +{ + union { + vec_double2 v; + double d[2]; + } aa, bb, dd; + + aa.v = (vec_double2)(a); + bb.v = (vec_double2)(b); + dd.d[0] = aa.d[0] - bb.d[0]; + dd.d[1] = aa.d[1] - bb.d[1]; + return ((qword)(dd.v)); +} + +static __inline qword si_sfhi(qword a, short b) +{ + return ((qword)(vec_sub(vec_splat((vec_short8)(si_from_short(b)), 1), + (vec_short8)(a)))); +} + +static __inline qword si_sfi(qword a, int b) +{ + return ((qword)(vec_sub(vec_splat((vec_int4)(si_from_int(b)), 0), + (vec_int4)(a)))); +} + +/* Subtract word extended + */ +#define si_sfx(_a, _b, _c) ((qword)(vec_add(vec_add((vec_uint4)(_b), \ + vec_nor((vec_uint4)(_a), (vec_uint4)(_a))), \ + vec_and((vec_uint4)(_c), vec_splat_u32(1))))) + + +/* Sum Bytes into Shorts + */ +static __inline qword si_sumb(qword a, qword b) +{ + vec_uint4 zero = (vec_uint4){0}; + vec_ushort8 sum_a, sum_b; + + sum_a = (vec_ushort8)vec_sum4s((vec_uchar16)(a), zero); + sum_b = (vec_ushort8)vec_sum4s((vec_uchar16)(b), zero); + + return ((qword)(vec_perm(sum_a, sum_b, ((vec_uchar16){18, 19, 2, 3, 22, 23, 6, 7, + 26, 27, 10, 11, 30, 31, 14, 15})))); +} + +/* Exclusive OR + */ +static __inline qword si_xor(qword a, qword b) +{ + return ((qword)(vec_xor((vec_uchar16)(a), (vec_uchar16)(b)))); +} + +static __inline qword si_xorbi(qword a, unsigned char b) +{ + return ((qword)(vec_xor((vec_uchar16)(a), + vec_splat((vec_uchar16)(si_from_uchar(b)), 3)))); +} + +static __inline qword si_xorhi(qword a, unsigned short b) +{ + return ((qword)(vec_xor((vec_ushort8)(a), + vec_splat((vec_ushort8)(si_from_ushort(b)), 1)))); +} + +static __inline qword si_xori(qword a, unsigned int b) +{ + return ((qword)(vec_xor((vec_uint4)(a), + vec_splat((vec_uint4)(si_from_uint(b)), 0)))); +} + + +/* Generate Controls for Sub-Quadword Insertion + */ +static __inline qword si_cbd(qword a, int imm) +{ + union { + vec_uint4 v; + unsigned char c[16]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.c[(si_to_uint(a) + (unsigned int)(imm)) & 0xF] = 0x03; + return ((qword)(shmask.v)); +} + +static __inline qword si_cdd(qword a, int imm) +{ + union { + vec_uint4 v; + unsigned long long ll[2]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.ll[((si_to_uint(a) + (unsigned int)(imm)) >> 3) & 0x1] = 0x0001020304050607ULL; + return ((qword)(shmask.v)); +} + +static __inline qword si_chd(qword a, int imm) +{ + union { + vec_uint4 v; + unsigned short s[8]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.s[((si_to_uint(a) + (unsigned int)(imm)) >> 1) & 0x7] = 0x0203; + return ((qword)(shmask.v)); +} + +static __inline qword si_cwd(qword a, int imm) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.i[((si_to_uint(a) + (unsigned int)(imm)) >> 2) & 0x3] = 0x00010203; + return ((qword)(shmask.v)); +} + +static __inline qword si_cbx(qword a, qword b) +{ + union { + vec_uint4 v; + unsigned char c[16]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.c[si_to_uint((qword)(vec_add((vec_uint4)(a), (vec_uint4)(b)))) & 0xF] = 0x03; + return ((qword)(shmask.v)); +} + + +static __inline qword si_cdx(qword a, qword b) +{ + union { + vec_uint4 v; + unsigned long long ll[2]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.ll[(si_to_uint((qword)(vec_add((vec_uint4)(a), (vec_uint4)(b)))) >> 3) & 0x1] = 0x0001020304050607ULL; + return ((qword)(shmask.v)); +} + +static __inline qword si_chx(qword a, qword b) +{ + union { + vec_uint4 v; + unsigned short s[8]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.s[(si_to_uint((qword)(vec_add((vec_uint4)(a), (vec_uint4)(b)))) >> 1) & 0x7] = 0x0203; + return ((qword)(shmask.v)); +} + +static __inline qword si_cwx(qword a, qword b) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } shmask; + + shmask.v = ((vec_uint4){0x10111213, 0x14151617, 0x18191A1B, 0x1C1D1E1F}); + shmask.i[(si_to_uint((qword)(vec_add((vec_uint4)(a), (vec_uint4)(b)))) >> 2) & 0x3] = 0x00010203; + return ((qword)(shmask.v)); +} + + +/* Constant Formation + */ +static __inline qword si_il(signed short imm) +{ + return ((qword)(vec_splat((vec_int4)(si_from_int((signed int)(imm))), 0))); +} + + +static __inline qword si_ila(unsigned int imm) +{ + return ((qword)(vec_splat((vec_uint4)(si_from_uint(imm)), 0))); +} + +static __inline qword si_ilh(signed short imm) +{ + return ((qword)(vec_splat((vec_short8)(si_from_short(imm)), 1))); +} + +static __inline qword si_ilhu(signed short imm) +{ + return ((qword)(vec_splat((vec_uint4)(si_from_uint((unsigned int)(imm) << 16)), 0))); +} + +static __inline qword si_iohl(qword a, unsigned short imm) +{ + return ((qword)(vec_or((vec_uint4)(a), vec_splat((vec_uint4)(si_from_uint((unsigned int)(imm))), 0)))); +} + +/* No Operation + */ +#define si_lnop() /* do nothing */ +#define si_nop() /* do nothing */ + + +/* Memory Load and Store + */ +static __inline qword si_lqa(unsigned int imm) +{ + return ((qword)(vec_ld(0, (vector unsigned char *)(imm)))); +} + +static __inline qword si_lqd(qword a, unsigned int imm) +{ + return ((qword)(vec_ld(si_to_uint(a) & ~0xF, (vector unsigned char *)(imm)))); +} + +static __inline qword si_lqr(unsigned int imm) +{ + return ((qword)(vec_ld(0, (vector unsigned char *)(imm)))); +} + +static __inline qword si_lqx(qword a, qword b) +{ + return ((qword)(vec_ld(si_to_uint((qword)(vec_add((vec_uint4)(a), (vec_uint4)(b)))), (vector unsigned char *)(0)))); +} + +static __inline void si_stqa(qword a, unsigned int imm) +{ + vec_st((vec_uchar16)(a), 0, (vector unsigned char *)(imm)); +} + +static __inline void si_stqd(qword a, qword b, unsigned int imm) +{ + vec_st((vec_uchar16)(a), si_to_uint(b) & ~0xF, (vector unsigned char *)(imm)); +} + +static __inline void si_stqr(qword a, unsigned int imm) +{ + vec_st((vec_uchar16)(a), 0, (vector unsigned char *)(imm)); +} + +static __inline void si_stqx(qword a, qword b, qword c) +{ + vec_st((vec_uchar16)(a), + si_to_uint((qword)(vec_add((vec_uint4)(b), (vec_uint4)(c)))), + (vector unsigned char *)(0)); +} + +#endif /* !__SPU__ */ +#endif /* !_SI2VMX_H_ */ + diff --git a/Extras/vectormathlibrary/other/rs6000/spu2vmx.h b/Extras/vectormathlibrary/other/rs6000/spu2vmx.h new file mode 100644 index 000000000..a1cb78991 --- /dev/null +++ b/Extras/vectormathlibrary/other/rs6000/spu2vmx.h @@ -0,0 +1,2418 @@ +/* (C) Copyright + Sony Computer Entertainment, Inc., + 2001,2002,2003,2004,2005,2006. + + This file is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free + Software Foundation; either version 2 of the License, or (at your option) + any later version. + + This file is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with this file; see the file COPYING. If not, write to the Free + Software Foundation, 51 Franklin Street, Fifth Floor, Boston, MA + 02110-1301, USA. */ + +/* As a special exception, if you include this header file into source files + compiled by GCC, this header file does not by itself cause the resulting + executable to be covered by the GNU General Public License. This exception + does not however invalidate any other reasons why the executable file might be + covered by the GNU General Public License. */ + +#ifndef _SPU2VMX_H_ +#define _SPU2VMX_H_ 1 + +#ifdef __cplusplus + +#ifndef __SPU__ + +#include + +/* spu_absd (absolute difference) + * ======== + */ +static __inline vec_uchar16 spu_absd(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_absdb((qword)(a), (qword)(b)))); + +} + + +/* spu_add + * ======= + */ +static __inline vec_uint4 spu_add(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_a((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_add(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_a((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_add(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_ah((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_add(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_ah((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_add(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_ai((qword)(a), (int)(b)))); +} + +static __inline vec_int4 spu_add(vec_int4 a, int b) +{ + return ((vec_int4)(si_ai((qword)(a), b))); +} + +static __inline vec_ushort8 spu_add(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_ahi((qword)(a), (short)(b)))); +} + +static __inline vec_short8 spu_add(vec_short8 a, short b) +{ + return ((vec_short8)(si_ahi((qword)(a), b))); +} + +static __inline vec_float4 spu_add(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_fa((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_add(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_dfa((qword)(a), (qword)(b)))); +} + + +/* spu_addx + * ======== + */ +static __inline vec_uint4 spu_addx(vec_uint4 a, vec_uint4 b, vec_uint4 c) +{ + return ((vec_uint4)(si_addx((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_int4 spu_addx(vec_int4 a, vec_int4 b, vec_int4 c) +{ + return ((vec_int4)(si_addx((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_and + * ======= + */ +static __inline vec_uchar16 spu_and(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_char16 spu_and(vec_char16 a, vec_char16 b) +{ + return ((vec_char16)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_and(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_and(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_and(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_and(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_float4 spu_and(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_and(vec_ullong2 a, vec_ullong2 b) +{ + return ((vec_ullong2)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_llong2 spu_and(vec_llong2 a, vec_llong2 b) +{ + return ((vec_llong2)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_and(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_and((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_and(vec_uchar16 a, unsigned char b) +{ + return ((vec_uchar16)(si_andbi((qword)(a), (signed char)(b)))); +} + + +static __inline vec_char16 spu_and(vec_char16 a, signed char b) +{ + return ((vec_char16)(si_andbi((qword)(a), b))); +} + +static __inline vec_ushort8 spu_and(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_andhi((qword)(a), (signed short)(b)))); +} + +static __inline vec_short8 spu_and(vec_short8 a, signed short b) +{ + return ((vec_short8)(si_andhi((qword)(a), b))); +} + +static __inline vec_uint4 spu_and(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_andi((qword)(a), (signed int)(b)))); +} + +static __inline vec_int4 spu_and(vec_int4 a, signed int b) +{ + return ((vec_int4)(si_andi((qword)(a), b))); +} + + +/* spu_andc + * ======== + */ +#define spu_andc(_a, _b) vec_andc(_a, _b) + + +/* spu_avg + * ======= + */ +#define spu_avg(_a, _b) vec_avg(_a, _b) + + +/* spu_bisled + * spu_bisled_d + * spu_bisled_e + * ============ + */ +#define spu_bisled(_func) /* not mappable */ +#define spu_bisled_d(_func) /* not mappable */ +#define spu_bisled_e(_func) /* not mappable */ + +/* spu_cmpabseq + * ============ + */ +static __inline vec_uint4 spu_cmpabseq(vec_float4 a, vec_float4 b) +{ + return ((vec_uint4)(si_fcmeq((qword)(a), (qword)(b)))); + +} + +static __inline vec_ullong2 spu_cmpabseq(vec_double2 a, vec_double2 b) +{ + return ((vec_ullong2)(si_dfcmeq((qword)(a), (qword)(b)))); +} + + +/* spu_cmpabsgt + * ============ + */ +static __inline vec_uint4 spu_cmpabsgt(vec_float4 a, vec_float4 b) +{ + return ((vec_uint4)(si_fcmgt((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_cmpabsgt(vec_double2 a, vec_double2 b) +{ + return ((vec_ullong2)(si_dfcmgt((qword)(a), (qword)(b)))); +} + + +/* spu_cmpeq + * ======== + */ +static __inline vec_uchar16 spu_cmpeq(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_ceqb((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_cmpeq(vec_char16 a, vec_char16 b) +{ + return ((vec_uchar16)(si_ceqb((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_cmpeq(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_ceqh((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_cmpeq(vec_short8 a, vec_short8 b) +{ + return ((vec_ushort8)(si_ceqh((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpeq(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_ceq((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpeq(vec_int4 a, vec_int4 b) +{ + return ((vec_uint4)(si_ceq((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpeq(vec_float4 a, vec_float4 b) +{ + return ((vec_uint4)(si_fceq((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_cmpeq(vec_uchar16 a, unsigned char b) +{ + return ((vec_uchar16)(si_ceqbi((qword)(a), (signed char)(b)))); +} + +static __inline vec_uchar16 spu_cmpeq(vec_char16 a, signed char b) +{ + return ((vec_uchar16)(si_ceqbi((qword)(a), b))); +} + +static __inline vec_ushort8 spu_cmpeq(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_ceqhi((qword)(a), (signed short)(b)))); +} + +static __inline vec_ushort8 spu_cmpeq(vec_short8 a, signed short b) +{ + return ((vec_ushort8)(si_ceqhi((qword)(a), b))); +} + +static __inline vec_uint4 spu_cmpeq(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_ceqi((qword)(a), (signed int)(b)))); +} + +static __inline vec_uint4 spu_cmpeq(vec_int4 a, signed int b) +{ + return ((vec_uint4)(si_ceqi((qword)(a), b))); +} + +static __inline vec_ullong2 spu_cmpeq(vec_double2 a, vec_double2 b) +{ + return ((vec_ullong2)(si_dfceq((qword)(a), (qword)(b)))); +} + + +/* spu_cmpgt + * ======== + */ +static __inline vec_uchar16 spu_cmpgt(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_clgtb((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_cmpgt(vec_char16 a, vec_char16 b) +{ + return ((vec_uchar16)(si_cgtb((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_cmpgt(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_clgth((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_cmpgt(vec_short8 a, vec_short8 b) +{ + return ((vec_ushort8)(si_cgth((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpgt(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_clgt((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpgt(vec_int4 a, vec_int4 b) +{ + return ((vec_uint4)(si_cgt((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_cmpgt(vec_float4 a, vec_float4 b) +{ + return ((vec_uint4)(si_fcgt((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_cmpgt(vec_uchar16 a, unsigned char b) +{ + return ((vec_uchar16)(si_clgtbi((qword)(a), b))); +} + +static __inline vec_uchar16 spu_cmpgt(vec_char16 a, signed char b) +{ + return ((vec_uchar16)(si_cgtbi((qword)(a), b))); +} + +static __inline vec_ushort8 spu_cmpgt(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_clgthi((qword)(a), b))); +} + +static __inline vec_ushort8 spu_cmpgt(vec_short8 a, signed short b) +{ + return ((vec_ushort8)(si_cgthi((qword)(a), b))); +} + +static __inline vec_uint4 spu_cmpgt(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_clgti((qword)(a), b))); +} + +static __inline vec_uint4 spu_cmpgt(vec_int4 a, signed int b) +{ + return ((vec_uint4)(si_cgti((qword)(a), b))); +} + +static __inline vec_ullong2 spu_cmpgt(vec_double2 a, vec_double2 b) +{ + return ((vec_ullong2)(si_dfcgt((qword)(a), (qword)(b)))); +} + + +/* spu_cntb + * ======== + */ +static __inline vec_uchar16 spu_cntb(vec_uchar16 a) +{ + return ((vec_uchar16)(si_cntb((qword)(a)))); +} + + +static __inline vec_uchar16 spu_cntb(vec_char16 a) +{ + return ((vec_uchar16)(si_cntb((qword)(a)))); +} + +/* spu_cntlz + * ========= + */ +static __inline vec_uint4 spu_cntlz(vec_uint4 a) +{ + return ((vec_uint4)(si_clz((qword)(a)))); +} + +static __inline vec_uint4 spu_cntlz(vec_int4 a) +{ + return ((vec_uint4)(si_clz((qword)(a)))); +} + +static __inline vec_uint4 spu_cntlz(vec_float4 a) +{ + return ((vec_uint4)(si_clz((qword)(a)))); +} + +/* spu_testsv + * ========== + */ +static __inline vec_ullong2 spu_testsv(vec_double2 a, char b) +{ + return ((vec_ullong2)(si_dftsv((qword)(a), b))); +} + +/* spu_convtf + * ========== + */ +#define spu_convtf(_a, _b) (vec_ctf(_a, _b)) + +/* spu_convts + * ========== + */ +#define spu_convts(_a, _b) (vec_cts(_a, _b)) + +/* spu_convtu + * ========== + */ +#define spu_convtu(_a, _b) (vec_ctu(_a, _b)) + + +/* spu_dsync + * ======== + */ +#define spu_dsync() + +/* spu_eqv + * ======= + */ +static __inline vec_uchar16 spu_eqv(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_char16 spu_eqv(vec_char16 a, vec_char16 b) +{ + return ((vec_char16)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_eqv(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_eqv(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_eqv(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_eqv(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_float4 spu_eqv(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_eqv(vec_ullong2 a, vec_ullong2 b) +{ + return ((vec_ullong2)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_llong2 spu_eqv(vec_llong2 a, vec_llong2 b) +{ + return ((vec_llong2)(si_eqv((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_eqv(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_eqv((qword)(a), (qword)(b)))); +} + +/* spu_extend + * ======== + */ +static __inline vec_short8 spu_extend(vec_char16 a) +{ + return ((vec_short8)(si_xsbh((qword)(a)))); +} + + +static __inline vec_int4 spu_extend(vec_short8 a) +{ + return ((vec_int4)(si_xshw((qword)(a)))); +} + +static __inline vec_llong2 spu_extend(vec_int4 a) +{ + return ((vec_llong2)(si_xswd((qword)(a)))); +} + + +static __inline vec_double2 spu_extend(vec_float4 a) +{ + return ((vec_double2)(si_fesd((qword)(a)))); +} + + +/* spu_extract + * ======== + */ +static __inline unsigned char spu_extract(vec_uchar16 a, int element) +{ + union { + vec_uchar16 v; + unsigned char c[16]; + } in; + + in.v = a; + return (in.c[element & 15]); +} + +static __inline signed char spu_extract(vec_char16 a, int element) +{ + union { + vec_char16 v; + signed char c[16]; + } in; + + in.v = a; + return (in.c[element & 15]); +} + +static __inline unsigned short spu_extract(vec_ushort8 a, int element) +{ + union { + vec_ushort8 v; + unsigned short s[8]; + } in; + + in.v = a; + return (in.s[element & 7]); +} + +static __inline signed short spu_extract(vec_short8 a, int element) +{ + union { + vec_short8 v; + signed short s[8]; + } in; + + in.v = a; + return (in.s[element & 7]); +} + +static __inline unsigned int spu_extract(vec_uint4 a, int element) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } in; + + in.v = a; + return (in.i[element & 3]); +} + +static __inline signed int spu_extract(vec_int4 a, int element) +{ + union { + vec_int4 v; + signed int i[4]; + } in; + + in.v = a; + return (in.i[element & 3]); +} + +static __inline float spu_extract(vec_float4 a, int element) +{ + union { + vec_float4 v; + float f[4]; + } in; + + in.v = a; + return (in.f[element & 3]); +} + +static __inline unsigned long long spu_extract(vec_ullong2 a, int element) +{ + union { + vec_ullong2 v; + unsigned long long l[2]; + } in; + + in.v = a; + return (in.l[element & 1]); +} + +static __inline signed long long spu_extract(vec_llong2 a, int element) +{ + union { + vec_llong2 v; + signed long long l[2]; + } in; + + in.v = a; + return (in.l[element & 1]); +} + +static __inline double spu_extract(vec_double2 a, int element) +{ + union { + vec_double2 v; + double d[2]; + } in; + + in.v = a; + return (in.d[element & 1]); +} + +/* spu_gather + * ======== + */ +static __inline vec_uint4 spu_gather(vec_uchar16 a) +{ + return ((vec_uint4)(si_gbb((qword)(a)))); +} + + +static __inline vec_uint4 spu_gather(vec_char16 a) +{ + return ((vec_uint4)(si_gbb((qword)(a)))); +} + +static __inline vec_uint4 spu_gather(vec_ushort8 a) +{ + return ((vec_uint4)(si_gbh((qword)(a)))); +} + +static __inline vec_uint4 spu_gather(vec_short8 a) +{ + return ((vec_uint4)(si_gbh((qword)(a)))); +} + + +static __inline vec_uint4 spu_gather(vec_uint4 a) +{ + return ((vec_uint4)(si_gb((qword)(a)))); +} + +static __inline vec_uint4 spu_gather(vec_int4 a) +{ + return ((vec_uint4)(si_gb((qword)(a)))); +} + +static __inline vec_uint4 spu_gather(vec_float4 a) +{ + return ((vec_uint4)(si_gb((qword)(a)))); +} + +/* spu_genb + * ======== + */ +static __inline vec_uint4 spu_genb(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_bg((qword)(b), (qword)(a)))); +} + +static __inline vec_int4 spu_genb(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_bg((qword)(b), (qword)(a)))); +} + +/* spu_genbx + * ========= + */ +static __inline vec_uint4 spu_genbx(vec_uint4 a, vec_uint4 b, vec_uint4 c) +{ + return ((vec_uint4)(si_bgx((qword)(b), (qword)(a), (qword)(c)))); +} + +static __inline vec_int4 spu_genbx(vec_int4 a, vec_int4 b, vec_int4 c) +{ + return ((vec_int4)(si_bgx((qword)(b), (qword)(a), (qword)(c)))); +} + + +/* spu_genc + * ======== + */ +static __inline vec_uint4 spu_genc(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_cg((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_genc(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_cg((qword)(a), (qword)(b)))); +} + +/* spu_gencx + * ========= + */ +static __inline vec_uint4 spu_gencx(vec_uint4 a, vec_uint4 b, vec_uint4 c) +{ + return ((vec_uint4)(si_cgx((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_int4 spu_gencx(vec_int4 a, vec_int4 b, vec_int4 c) +{ + return ((vec_int4)(si_cgx((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_hcmpeq + * ======== + */ +#define spu_hcmpeq(_a, _b) if (_a == _b) { SPU_HALT_ACTION; }; + + +/* spu_hcmpgt + * ======== + */ +#define spu_hcmpgt(_a, _b) if (_a > _b) { SPU_HALT_ACTION; }; + + +/* spu_idisable + * ============ + */ +#define spu_idisable() SPU_UNSUPPORTED_ACTION + + +/* spu_ienable + * =========== + */ +#define spu_ienable() SPU_UNSUPPORTED_ACTION + + +/* spu_insert + * ======== + */ +static __inline vec_uchar16 spu_insert(unsigned char a, vec_uchar16 b, int element) +{ + union { + vec_uchar16 v; + unsigned char c[16]; + } in; + + in.v = b; + in.c[element & 15] = a; + return (in.v); +} + +static __inline vec_char16 spu_insert(signed char a, vec_char16 b, int element) +{ + return ((vec_char16)spu_insert((unsigned char)(a), (vec_uchar16)(b), element)); +} + +static __inline vec_ushort8 spu_insert(unsigned short a, vec_ushort8 b, int element) +{ + union { + vec_ushort8 v; + unsigned short s[8]; + } in; + + in.v = b; + in.s[element & 7] = a; + return (in.v); +} + +static __inline vec_short8 spu_insert(signed short a, vec_short8 b, int element) +{ + return ((vec_short8)spu_insert((unsigned short)(a), (vec_ushort8)(b), element)); +} + +static __inline vec_uint4 spu_insert(unsigned int a, vec_uint4 b, int element) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } in; + + in.v = b; + in.i[element & 3] = a; + return (in.v); +} + +static __inline vec_int4 spu_insert(signed int a, vec_int4 b, int element) +{ + return ((vec_int4)spu_insert((unsigned int)(a), (vec_uint4)(b), element)); +} + +static __inline vec_float4 spu_insert(float a, vec_float4 b, int element) +{ + union { + vec_float4 v; + float f[4]; + } in; + + in.v = b; + in.f[element & 3] = a; + return (in.v); +} + +static __inline vec_ullong2 spu_insert(unsigned long long a, vec_ullong2 b, int element) +{ + union { + vec_ullong2 v; + unsigned long long l[2]; + } in; + + in.v = b; + in.l[element & 1] = a; + return (in.v); +} + +static __inline vec_llong2 spu_insert(signed long long a, vec_llong2 b, int element) +{ + return ((vec_llong2)spu_insert((unsigned long long)(a), (vec_ullong2)(b), element)); +} + +static __inline vec_double2 spu_insert(double a, vec_double2 b, int element) +{ + union { + vec_double2 v; + double d[2]; + } in; + + in.v = b; + in.d[element & 1] = a; + return (in.v); +} + + +/* spu_madd + * ======== + */ +static __inline vec_int4 spu_madd(vec_short8 a, vec_short8 b, vec_int4 c) +{ + return ((vec_int4)(si_mpya((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_float4 spu_madd(vec_float4 a, vec_float4 b, vec_float4 c) +{ + return ((vec_float4)(si_fma((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_double2 spu_madd(vec_double2 a, vec_double2 b, vec_double2 c) +{ + return ((vec_double2)(si_dfma((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_maskb + * ======== + */ +#define spu_maskb(_a) (vec_uchar16)(si_fsmb(si_from_int((int)(_a)))) + +/* spu_maskh + * ======== + */ +#define spu_maskh(_a) (vec_ushort8)(si_fsmh(si_from_int((int)(_a)))) + + +/* spu_maskw + * ======== + */ +#define spu_maskw(_a) (vec_uint4)(si_fsm(si_from_int((int)(_a)))) + + +/* spu_mfcdma32 + * ======== + */ +#define spu_mfcdma32(_ls, _ea, _size, _tagid, _cmd) + + +/* spu_mfcdma64 + * ======== + */ +#define spu_mfcdma64(_ls, _eahi, _ealow, _size, _tagid, _cmd) + +/* spu_mfcstat + * ======== + */ +#define spu_mfcstat(_type) 0xFFFFFFFF + + + +/* spu_mffpscr + * =========== + */ +#define spu_mffpscr() (vec_uint4)(si_fscrrd()) + + +/* spu_mfspr + * ======== + */ + +#define spu_mfspr(_reg) si_to_uint(si_mfspr(_reg)) + + + +/* spu_mhhadd + * ========== + */ +static __inline vec_int4 spu_mhhadd(vec_short8 a, vec_short8 b, vec_int4 c) +{ + return ((vec_int4)(si_mpyhha((qword)(a), (qword)(b), (qword)(c)))); +} + + +static __inline vec_uint4 spu_mhhadd(vec_ushort8 a, vec_ushort8 b, vec_uint4 c) +{ + return ((vec_uint4)(si_mpyhhau((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_msub + * ======== + */ +static __inline vec_float4 spu_msub(vec_float4 a, vec_float4 b, vec_float4 c) +{ + return ((vec_float4)(si_fms((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_double2 spu_msub(vec_double2 a, vec_double2 b, vec_double2 c) +{ + return ((vec_double2)(si_dfms((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_mtfpscr + * =========== + */ +#define spu_mtfpscr(_a) + + +/* spu_mtspr + * ======== + */ +#define spu_mtspr(_reg, _a) + + +/* spu_mul + * ======== + */ +static __inline vec_float4 spu_mul(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_fm((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_mul(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_dfm((qword)(a), (qword)(b)))); +} + + +/* spu_mulh + * ======== + */ +static __inline vec_int4 spu_mulh(vec_short8 a, vec_short8 b) +{ + return ((vec_int4)(si_mpyh((qword)(a), (qword)(b)))); +} + +/* spu_mule + * ========= + */ +#define spu_mule(_a, _b) vec_mule(_a, _b) + + + +/* spu_mulo + * ======== + */ +static __inline vec_int4 spu_mulo(vec_short8 a, vec_short8 b) +{ + return ((vec_int4)(si_mpy((qword)(a), (qword)(b)))); +} + + +static __inline vec_uint4 spu_mulo(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_uint4)(si_mpyu((qword)(a), (qword)(b)))); +} + + +static __inline vec_int4 spu_mulo(vec_short8 a, short b) +{ + return ((vec_int4)(si_mpyi((qword)(a), b))); +} + +static __inline vec_uint4 spu_mulo(vec_ushort8 a, unsigned short b) +{ + return ((vec_uint4)(si_mpyui((qword)(a), b))); +} + + +/* spu_mulsr + * ========= + */ +static __inline vec_int4 spu_mulsr(vec_short8 a, vec_short8 b) +{ + return ((vec_int4)(si_mpys((qword)(a), (qword)(b)))); +} + + +/* spu_nand + * ======== + */ +static __inline vec_uchar16 spu_nand(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_char16 spu_nand(vec_char16 a, vec_char16 b) +{ + return ((vec_char16)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_nand(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_nand(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_nand(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_nand(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_float4 spu_nand(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_nand(vec_ullong2 a, vec_ullong2 b) +{ + return ((vec_ullong2)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_llong2 spu_nand(vec_llong2 a, vec_llong2 b) +{ + return ((vec_llong2)(si_nand((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_nand(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_nand((qword)(a), (qword)(b)))); +} + + +/* spu_nmadd + * ========= + */ +static __inline vec_double2 spu_nmadd(vec_double2 a, vec_double2 b, vec_double2 c) +{ + return ((vec_double2)(si_dfnma((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_nmsub + * ========= + */ +static __inline vec_float4 spu_nmsub(vec_float4 a, vec_float4 b, vec_float4 c) +{ + return ((vec_float4)(si_fnms((qword)(a), (qword)(b), (qword)(c)))); +} + +static __inline vec_double2 spu_nmsub(vec_double2 a, vec_double2 b, vec_double2 c) +{ + return ((vec_double2)(si_dfnms((qword)(a), (qword)(b), (qword)(c)))); +} + + +/* spu_nor + * ======= + */ +#define spu_nor(_a, _b) vec_nor(_a, _b) + + +/* spu_or + * ====== + */ +static __inline vec_uchar16 spu_or(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_char16 spu_or(vec_char16 a, vec_char16 b) +{ + return ((vec_char16)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_or(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_or(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_or(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_or(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_float4 spu_or(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_or(vec_ullong2 a, vec_ullong2 b) +{ + return ((vec_ullong2)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_llong2 spu_or(vec_llong2 a, vec_llong2 b) +{ + return ((vec_llong2)(si_or((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_or(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_or((qword)(a), (qword)(b)))); +} + + +static __inline vec_uchar16 spu_or(vec_uchar16 a, unsigned char b) +{ + return ((vec_uchar16)(si_orbi((qword)(a), b))); +} + +static __inline vec_char16 spu_or(vec_char16 a, signed char b) +{ + return ((vec_char16)(si_orbi((qword)(a), (unsigned char)(b)))); +} + +static __inline vec_ushort8 spu_or(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_orhi((qword)(a), b))); +} + +static __inline vec_short8 spu_or(vec_short8 a, signed short b) +{ + return ((vec_short8)(si_orhi((qword)(a), (unsigned short)(b)))); +} + +static __inline vec_uint4 spu_or(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_ori((qword)(a), b))); +} + +static __inline vec_int4 spu_or(vec_int4 a, signed int b) +{ + return ((vec_int4)(si_ori((qword)(a), (unsigned int)(b)))); +} + + +/* spu_orc + * ======= + */ +#define spu_orc(_a, _b) vec_or(_a, vec_nor(_b, _b)) + + +/* spu_orx + * ======= + */ +static __inline vec_uint4 spu_orx(vec_uint4 a) +{ + return ((vec_uint4)(si_orx((qword)(a)))); +} + +static __inline vec_int4 spu_orx(vec_int4 a) +{ + return ((vec_int4)(si_orx((qword)(a)))); +} + + +/* spu_promote + * =========== + */ +static __inline vec_uchar16 spu_promote(unsigned char a, int element) +{ + union { + vec_uchar16 v; + unsigned char c[16]; + } in; + + in.c[element & 15] = a; + return (in.v); +} + +static __inline vec_char16 spu_promote(signed char a, int element) +{ + union { + vec_char16 v; + signed char c[16]; + } in; + + in.c[element & 15] = a; + return (in.v); +} + +static __inline vec_ushort8 spu_promote(unsigned short a, int element) +{ + union { + vec_ushort8 v; + unsigned short s[8]; + } in; + + in.s[element & 7] = a; + return (in.v); +} + +static __inline vec_short8 spu_promote(signed short a, int element) +{ + union { + vec_short8 v; + signed short s[8]; + } in; + + in.s[element & 7] = a; + return (in.v); +} + +static __inline vec_uint4 spu_promote(unsigned int a, int element) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } in; + + in.i[element & 3] = a; + return (in.v); +} + +static __inline vec_int4 spu_promote(signed int a, int element) +{ + union { + vec_int4 v; + signed int i[4]; + } in; + + in.i[element & 3] = a; + return (in.v); +} + +static __inline vec_float4 spu_promote(float a, int element) +{ + union { + vec_float4 v; + float f[4]; + } in; + + in.f[element & 3] = a; + return (in.v); +} + +static __inline vec_ullong2 spu_promote(unsigned long long a, int element) +{ + union { + vec_ullong2 v; + unsigned long long l[2]; + } in; + + in.l[element & 1] = a; + return (in.v); +} + +static __inline vec_llong2 spu_promote(signed long long a, int element) +{ + union { + vec_llong2 v; + signed long long l[2]; + } in; + + in.l[element & 1] = a; + return (in.v); +} + +static __inline vec_double2 spu_promote(double a, int element) +{ + union { + vec_double2 v; + double d[2]; + } in; + + in.d[element & 1] = a; + return (in.v); +} + +/* spu_re + * ====== + */ +#define spu_re(_a) vec_re(_a) + + +/* spu_readch + * ========== + */ +#define spu_readch(_channel) 0 /* not mappable */ + + +/* spu_readchcnt + * ============= + */ +#define spu_readchcnt(_channel) 0 /* not mappable */ + + +/* spu_readchqw + * ============ + */ +#define spu_readchqw(_channel) __extension__ ({ vec_uint4 result = { 0, 0, 0, 0 }; result; }) + +/* spu_rl + * ====== + */ +static __inline vec_ushort8 spu_rl(vec_ushort8 a, vec_short8 b) +{ + return ((vec_ushort8)(si_roth((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_rl(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_roth((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_rl(vec_uint4 a, vec_int4 b) +{ + return ((vec_uint4)(si_rot((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_rl(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_rot((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_rl(vec_ushort8 a, int b) +{ + return ((vec_ushort8)(si_rothi((qword)(a), b))); +} + +static __inline vec_short8 spu_rl(vec_short8 a, int b) +{ + return ((vec_short8)(si_rothi((qword)(a), b))); +} + +static __inline vec_uint4 spu_rl(vec_uint4 a, int b) +{ + return ((vec_uint4)(si_roti((qword)(a), b))); +} + +static __inline vec_int4 spu_rl(vec_int4 a, int b) +{ + return ((vec_int4)(si_roti((qword)(a), b))); +} + + +/* spu_rlmask + * ========== + */ +static __inline vec_ushort8 spu_rlmask(vec_ushort8 a, vec_short8 b) +{ + return ((vec_ushort8)(si_rothm((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_rlmask(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_rothm((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_rlmask(vec_uint4 a, vec_int4 b) +{ + return ((vec_uint4)(si_rotm((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_rlmask(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_rotm((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_rlmask(vec_ushort8 a, int b) +{ + return ((vec_ushort8)(si_rothmi((qword)(a), b))); +} + +static __inline vec_short8 spu_rlmask(vec_short8 a, int b) +{ + return ((vec_short8)(si_rothmi((qword)(a), b))); +} + + +static __inline vec_uint4 spu_rlmask(vec_uint4 a, int b) +{ + return ((vec_uint4)(si_rotmi((qword)(a), b))); +} + +static __inline vec_int4 spu_rlmask(vec_int4 a, int b) +{ + return ((vec_int4)(si_rotmi((qword)(a), b))); +} + +/* spu_rlmaska + * =========== + */ +static __inline vec_short8 spu_rlmaska(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_rotmah((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_rlmaska(vec_ushort8 a, vec_short8 b) +{ + return ((vec_ushort8)(si_rotmah((qword)(a), (qword)(b)))); +} + + +static __inline vec_int4 spu_rlmaska(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_rotma((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_rlmaska(vec_uint4 a, vec_int4 b) +{ + return ((vec_uint4)(si_rotma((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_rlmaska(vec_ushort8 a, int b) +{ + return ((vec_ushort8)(si_rotmahi((qword)(a), b))); +} + +static __inline vec_short8 spu_rlmaska(vec_short8 a, int b) +{ + return ((vec_short8)(si_rotmahi((qword)(a), b))); +} + +static __inline vec_uint4 spu_rlmaska(vec_uint4 a, int b) +{ + return ((vec_uint4)(si_rotmai((qword)(a), b))); +} + +static __inline vec_int4 spu_rlmaska(vec_int4 a, int b) +{ + return ((vec_int4)(si_rotmai((qword)(a), b))); +} + + +/* spu_rlmaskqw + * ============ + */ +static __inline vec_uchar16 spu_rlmaskqw(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlmaskqw(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlmaskqw(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlmaskqw(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlmaskqw(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlmaskqw(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlmaskqw(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlmaskqw(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlmaskqw(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlmaskqw(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqmbi((qword)(a), si_from_int(count)))); +} + +/* spu_rlmaskqwbyte + * ================ + */ +static __inline vec_uchar16 spu_rlmaskqwbyte(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlmaskqwbyte(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlmaskqwbyte(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlmaskqwbyte(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlmaskqwbyte(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlmaskqwbyte(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlmaskqwbyte(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlmaskqwbyte(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlmaskqwbyte(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlmaskqwbyte(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqmby((qword)(a), si_from_int(count)))); +} + +/* spu_rlmaskqwbytebc + * ================== + */ +static __inline vec_uchar16 spu_rlmaskqwbytebc(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlmaskqwbytebc(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlmaskqwbytebc(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlmaskqwbytebc(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlmaskqwbytebc(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlmaskqwbytebc(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlmaskqwbytebc(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlmaskqwbytebc(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlmaskqwbytebc(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlmaskqwbytebc(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqmbybi((qword)(a), si_from_int(count)))); +} + + +/* spu_rlqwbyte + * ============ + */ +static __inline vec_uchar16 spu_rlqwbyte(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlqwbyte(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlqwbyte(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlqwbyte(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlqwbyte(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlqwbyte(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlqwbyte(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlqwbyte(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlqwbyte(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqby((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlqwbyte(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqby((qword)(a), si_from_int(count)))); +} + + +/* spu_rlqwbytebc + * ============== + */ +static __inline vec_uchar16 spu_rlqwbytebc(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlqwbytebc(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlqwbytebc(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlqwbytebc(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlqwbytebc(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlqwbytebc(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlqwbytebc(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlqwbytebc(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlqwbytebc(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlqwbytebc(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqbybi((qword)(a), si_from_int(count)))); +} + +/* spu_rlqw + * ======== + */ +static __inline vec_uchar16 spu_rlqw(vec_uchar16 a, int count) +{ + return ((vec_uchar16)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_char16 spu_rlqw(vec_char16 a, int count) +{ + return ((vec_char16)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ushort8 spu_rlqw(vec_ushort8 a, int count) +{ + return ((vec_ushort8)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_short8 spu_rlqw(vec_short8 a, int count) +{ + return ((vec_short8)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_uint4 spu_rlqw(vec_uint4 a, int count) +{ + return ((vec_uint4)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_int4 spu_rlqw(vec_int4 a, int count) +{ + return ((vec_int4)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_float4 spu_rlqw(vec_float4 a, int count) +{ + return ((vec_float4)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_ullong2 spu_rlqw(vec_ullong2 a, int count) +{ + return ((vec_ullong2)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_llong2 spu_rlqw(vec_llong2 a, int count) +{ + return ((vec_llong2)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +static __inline vec_double2 spu_rlqw(vec_double2 a, int count) +{ + return ((vec_double2)(si_rotqbi((qword)(a), si_from_int(count)))); +} + +/* spu_roundtf + * =========== + */ +static __inline vec_float4 spu_roundtf(vec_double2 a) +{ + return ((vec_float4)(si_frds((qword)(a)))); +} + + +/* spu_rsqrte + * ========== + */ +#define spu_rsqrte(_a) vec_rsqrte(_a) + + +/* spu_sel + * ======= + */ +static __inline vec_uchar16 spu_sel(vec_uchar16 a, vec_uchar16 b, vec_uchar16 pattern) +{ + return ((vec_uchar16)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_char16 spu_sel(vec_char16 a, vec_char16 b, vec_uchar16 pattern) +{ + return ((vec_char16)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_ushort8 spu_sel(vec_ushort8 a, vec_ushort8 b, vec_ushort8 pattern) +{ + return ((vec_ushort8)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_short8 spu_sel(vec_short8 a, vec_short8 b, vec_ushort8 pattern) +{ + return ((vec_short8)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_uint4 spu_sel(vec_uint4 a, vec_uint4 b, vec_uint4 pattern) +{ + return ((vec_uint4)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_int4 spu_sel(vec_int4 a, vec_int4 b, vec_uint4 pattern) +{ + return ((vec_int4)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_float4 spu_sel(vec_float4 a, vec_float4 b, vec_uint4 pattern) +{ + return ((vec_float4)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_ullong2 spu_sel(vec_ullong2 a, vec_ullong2 b, vec_ullong2 pattern) +{ + return ((vec_ullong2)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_llong2 spu_sel(vec_llong2 a, vec_llong2 b, vec_ullong2 pattern) +{ + return ((vec_llong2)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_double2 spu_sel(vec_double2 a, vec_double2 b, vec_ullong2 pattern) +{ + return ((vec_double2)(si_selb((qword)(a), (qword)(b), (qword)(pattern)))); +} + + + +/* spu_shuffle + * =========== + */ +static __inline vec_uchar16 spu_shuffle(vec_uchar16 a, vec_uchar16 b, vec_uchar16 pattern) +{ + return ((vec_uchar16)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_char16 spu_shuffle(vec_char16 a, vec_char16 b, vec_uchar16 pattern) +{ + return ((vec_char16)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_ushort8 spu_shuffle(vec_ushort8 a, vec_ushort8 b, vec_uchar16 pattern) +{ + return ((vec_ushort8)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_short8 spu_shuffle(vec_short8 a, vec_short8 b, vec_uchar16 pattern) +{ + return ((vec_short8)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_uint4 spu_shuffle(vec_uint4 a, vec_uint4 b, vec_uchar16 pattern) +{ + return ((vec_uint4)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_int4 spu_shuffle(vec_int4 a, vec_int4 b, vec_uchar16 pattern) +{ + return ((vec_int4)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_float4 spu_shuffle(vec_float4 a, vec_float4 b, vec_uchar16 pattern) +{ + return ((vec_float4)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_ullong2 spu_shuffle(vec_ullong2 a, vec_ullong2 b, vec_uchar16 pattern) +{ + return ((vec_ullong2)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_llong2 spu_shuffle(vec_llong2 a, vec_llong2 b, vec_uchar16 pattern) +{ + return ((vec_llong2)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + +static __inline vec_double2 spu_shuffle(vec_double2 a, vec_double2 b, vec_uchar16 pattern) +{ + return ((vec_double2)(si_shufb((qword)(a), (qword)(b), (qword)(pattern)))); +} + + +/* spu_sl + * ====== + */ +static __inline vec_ushort8 spu_sl(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_shlh((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_sl(vec_short8 a, vec_ushort8 b) +{ + return ((vec_short8)(si_shlh((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_sl(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_shl((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_sl(vec_int4 a, vec_uint4 b) +{ + return ((vec_int4)(si_shl((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_sl(vec_ushort8 a, unsigned int b) +{ + return ((vec_ushort8)(si_shlhi((qword)(a), b))); +} + +static __inline vec_short8 spu_sl(vec_short8 a, unsigned int b) +{ + return ((vec_short8)(si_shlhi((qword)(a), b))); +} + +static __inline vec_uint4 spu_sl(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_shli((qword)(a), b))); +} + +static __inline vec_int4 spu_sl(vec_int4 a, unsigned int b) +{ + return ((vec_int4)(si_shli((qword)(a), b))); +} + + +/* spu_slqw + * ======== + */ +static __inline vec_uchar16 spu_slqw(vec_uchar16 a, unsigned int count) +{ + return ((vec_uchar16)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_char16 spu_slqw(vec_char16 a, unsigned int count) +{ + return ((vec_char16)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ushort8 spu_slqw(vec_ushort8 a, unsigned int count) +{ + return ((vec_ushort8)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_short8 spu_slqw(vec_short8 a, unsigned int count) +{ + return ((vec_short8)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_uint4 spu_slqw(vec_uint4 a, unsigned int count) +{ + return ((vec_uint4)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_int4 spu_slqw(vec_int4 a, unsigned int count) +{ + return ((vec_int4)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_float4 spu_slqw(vec_float4 a, unsigned int count) +{ + return ((vec_float4)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ullong2 spu_slqw(vec_ullong2 a, unsigned int count) +{ + return ((vec_ullong2)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_llong2 spu_slqw(vec_llong2 a, unsigned int count) +{ + return ((vec_llong2)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_double2 spu_slqw(vec_double2 a, unsigned int count) +{ + return ((vec_double2)(si_shlqbi((qword)(a), si_from_uint(count)))); +} + +/* spu_slqwbyte + * ============ + */ +static __inline vec_uchar16 spu_slqwbyte(vec_uchar16 a, unsigned int count) +{ + return ((vec_uchar16)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_char16 spu_slqwbyte(vec_char16 a, unsigned int count) +{ + return ((vec_char16)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ushort8 spu_slqwbyte(vec_ushort8 a, unsigned int count) +{ + return ((vec_ushort8)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_short8 spu_slqwbyte(vec_short8 a, unsigned int count) +{ + return ((vec_short8)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_uint4 spu_slqwbyte(vec_uint4 a, unsigned int count) +{ + return ((vec_uint4)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_int4 spu_slqwbyte(vec_int4 a, unsigned int count) +{ + return ((vec_int4)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_float4 spu_slqwbyte(vec_float4 a, unsigned int count) +{ + return ((vec_float4)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ullong2 spu_slqwbyte(vec_ullong2 a, unsigned int count) +{ + return ((vec_ullong2)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_llong2 spu_slqwbyte(vec_llong2 a, unsigned int count) +{ + return ((vec_llong2)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +static __inline vec_double2 spu_slqwbyte(vec_double2 a, unsigned int count) +{ + return ((vec_double2)(si_shlqby((qword)(a), si_from_uint(count)))); +} + +/* spu_slqwbytebc + * ============== + */ +static __inline vec_uchar16 spu_slqwbytebc(vec_uchar16 a, unsigned int count) +{ + return ((vec_uchar16)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_char16 spu_slqwbytebc(vec_char16 a, unsigned int count) +{ + return ((vec_char16)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ushort8 spu_slqwbytebc(vec_ushort8 a, unsigned int count) +{ + return ((vec_ushort8)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_short8 spu_slqwbytebc(vec_short8 a, unsigned int count) +{ + return ((vec_short8)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_uint4 spu_slqwbytebc(vec_uint4 a, unsigned int count) +{ + return ((vec_uint4)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_int4 spu_slqwbytebc(vec_int4 a, unsigned int count) +{ + return ((vec_int4)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_float4 spu_slqwbytebc(vec_float4 a, unsigned int count) +{ + return ((vec_float4)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_ullong2 spu_slqwbytebc(vec_ullong2 a, unsigned int count) +{ + return ((vec_ullong2)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_llong2 spu_slqwbytebc(vec_llong2 a, unsigned int count) +{ + return ((vec_llong2)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +static __inline vec_double2 spu_slqwbytebc(vec_double2 a, unsigned int count) +{ + return ((vec_double2)(si_shlqbybi((qword)(a), si_from_uint(count)))); +} + +/* spu_splats + * ========== + */ +static __inline vec_uchar16 spu_splats(unsigned char a) +{ + union { + vec_uchar16 v; + unsigned char c[16]; + } in; + + in.c[0] = a; + return (vec_splat(in.v, 0)); +} + +static __inline vec_char16 spu_splats(signed char a) +{ + return ((vec_char16)spu_splats((unsigned char)(a))); +} + +static __inline vec_ushort8 spu_splats(unsigned short a) +{ + union { + vec_ushort8 v; + unsigned short s[8]; + } in; + + in.s[0] = a; + return (vec_splat(in.v, 0)); +} + +static __inline vec_short8 spu_splats(signed short a) +{ + return ((vec_short8)spu_splats((unsigned short)(a))); +} + +static __inline vec_uint4 spu_splats(unsigned int a) +{ + union { + vec_uint4 v; + unsigned int i[4]; + } in; + + in.i[0] = a; + return (vec_splat(in.v, 0)); +} + +static __inline vec_int4 spu_splats(signed int a) +{ + return ((vec_int4)spu_splats((unsigned int)(a))); +} + +static __inline vec_float4 spu_splats(float a) +{ + union { + vec_float4 v; + float f[4]; + } in; + + in.f[0] = a; + return (vec_splat(in.v, 0)); +} + +static __inline vec_ullong2 spu_splats(unsigned long long a) +{ + union { + vec_ullong2 v; + unsigned long long l[2]; + } in; + + in.l[0] = a; + in.l[1] = a; + return (in.v); +} + +static __inline vec_llong2 spu_splats(signed long long a) +{ + return ((vec_llong2)spu_splats((unsigned long long)(a))); +} + +static __inline vec_double2 spu_splats(double a) +{ + union { + vec_double2 v; + double d[2]; + } in; + + in.d[0] = a; + in.d[1] = a; + return (in.v); +} + + +/* spu_stop + * ======== + */ +#define spu_stop(_type) si_stop(_type) + + +/* spu_sub + * ======= + */ +static __inline vec_ushort8 spu_sub(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_sfh((qword)(b), (qword)(a)))); +} + +static __inline vec_short8 spu_sub(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_sfh((qword)(b), (qword)(a)))); +} + +static __inline vec_uint4 spu_sub(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_sf((qword)(b), (qword)(a)))); +} + +static __inline vec_int4 spu_sub(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_sf((qword)(b), (qword)(a)))); +} + +static __inline vec_float4 spu_sub(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_fs((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_sub(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_dfs((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_sub(unsigned int a, vec_uint4 b) +{ + return ((vec_uint4)(si_sfi((qword)b, (int)a))); +} + +static __inline vec_int4 spu_sub(signed int a, vec_int4 b) +{ + return ((vec_int4)(si_sfi((qword)b, (int)a))); +} + +static __inline vec_ushort8 spu_sub(unsigned short a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_sfhi((qword)b, (short)a))); +} + +static __inline vec_short8 spu_sub(signed short a, vec_short8 b) +{ + return ((vec_short8)(si_sfhi((qword)b, (short)a))); +} + +/* spu_subx + * ======== + */ +static __inline vec_uint4 spu_subx(vec_uint4 a, vec_uint4 b, vec_uint4 c) +{ + return ((vec_uint4)(si_sfx((qword)(b), (qword)(a), (qword)(c)))); +} + +static __inline vec_int4 spu_subx(vec_int4 a, vec_int4 b, vec_int4 c) +{ + return ((vec_int4)(si_sfx((qword)(b), (qword)(a), (qword)(c)))); +} + +/* spu_sumb + * ======== + */ +static __inline vec_ushort8 spu_sumb(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_ushort8)(si_sumb((qword)(a), (qword)(b)))); +} + + +/* spu_sync + * spu_sync_c + * ======== + */ +#define spu_sync() /* do nothing */ + +#define spu_sync_c() /* do nothing */ + + +/* spu_writech + * =========== + */ +#define spu_writech(_channel, _a) /* not mappable */ + +/* spu_writechqw + * ============= + */ +#define spu_writechqw(_channel, _a) /* not mappable */ + + +/* spu_xor + * ======= + */ +static __inline vec_uchar16 spu_xor(vec_uchar16 a, vec_uchar16 b) +{ + return ((vec_uchar16)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_char16 spu_xor(vec_char16 a, vec_char16 b) +{ + return ((vec_char16)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_ushort8 spu_xor(vec_ushort8 a, vec_ushort8 b) +{ + return ((vec_ushort8)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_short8 spu_xor(vec_short8 a, vec_short8 b) +{ + return ((vec_short8)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_uint4 spu_xor(vec_uint4 a, vec_uint4 b) +{ + return ((vec_uint4)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_int4 spu_xor(vec_int4 a, vec_int4 b) +{ + return ((vec_int4)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_float4 spu_xor(vec_float4 a, vec_float4 b) +{ + return ((vec_float4)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_ullong2 spu_xor(vec_ullong2 a, vec_ullong2 b) +{ + return ((vec_ullong2)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_llong2 spu_xor(vec_llong2 a, vec_llong2 b) +{ + return ((vec_llong2)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_double2 spu_xor(vec_double2 a, vec_double2 b) +{ + return ((vec_double2)(si_xor((qword)(a), (qword)(b)))); +} + +static __inline vec_uchar16 spu_xor(vec_uchar16 a, unsigned char b) +{ + return ((vec_uchar16)(si_xorbi((qword)(a), b))); +} + +static __inline vec_char16 spu_xor(vec_char16 a, signed char b) +{ + return ((vec_char16)(si_xorbi((qword)(a), (unsigned char)(b)))); +} + +static __inline vec_ushort8 spu_xor(vec_ushort8 a, unsigned short b) +{ + return ((vec_ushort8)(si_xorhi((qword)(a), b))); +} + +static __inline vec_short8 spu_xor(vec_short8 a, signed short b) +{ + return ((vec_short8)(si_xorhi((qword)(a), (unsigned short)(b)))); +} + +static __inline vec_uint4 spu_xor(vec_uint4 a, unsigned int b) +{ + return ((vec_uint4)(si_xori((qword)(a), b))); +} + +static __inline vec_int4 spu_xor(vec_int4 a, signed int b) +{ + return ((vec_int4)(si_xori((qword)(a), (unsigned int)(b)))); +} + +#endif /* !__SPU__ */ +#endif /* __cplusplus */ +#endif /* !_SPU2VMX_H_ */ diff --git a/Extras/vectormathlibrary/other/rs6000/vec_types.h b/Extras/vectormathlibrary/other/rs6000/vec_types.h new file mode 100644 index 000000000..497257b85 --- /dev/null +++ b/Extras/vectormathlibrary/other/rs6000/vec_types.h @@ -0,0 +1,55 @@ +/* (C) Copyright + Sony Computer Entertainment, Inc., + 2001,2002,2003,2004,2005,2006. + + This file is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free + Software Foundation; either version 2 of the License, or (at your option) + any later version. + + This file is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + for more details. + + You should have received a copy of the GNU General Public License + along with this file; see the file COPYING. If not, write to the Free + Software Foundation, 51 Franklin Street, Fifth Floor, Boston, MA + 02110-1301, USA. */ + +/* As a special exception, if you include this header file into source files + compiled by GCC, this header file does not by itself cause the resulting + executable to be covered by the GNU General Public License. This exception + does not however invalidate any other reasons why the executable file might be + covered by the GNU General Public License. */ + +/* Single token vector data types for the PowerPC SIMD/Vector Multi-media + eXtension */ + +#ifndef _VEC_TYPES_H_ +#define _VEC_TYPES_H_ 1 + +#define qword __vector unsigned char + +#define vec_uchar16 __vector unsigned char +#define vec_char16 __vector signed char +#define vec_bchar16 __vector bool char + +#define vec_ushort8 __vector unsigned short +#define vec_short8 __vector signed short +#define vec_bshort8 __vector bool short + +#define vec_pixel8 __vector pixel + +#define vec_uint4 __vector unsigned int +#define vec_int4 __vector signed int +#define vec_bint4 __vector bool int + +#define vec_float4 __vector float + +#define vec_ullong2 __vector bool char +#define vec_llong2 __vector bool short + +#define vec_double2 __vector bool int + +#endif /* _VEC_TYPES_H_ */