mirror of https://github.com/AxioDL/zeus.git
113 lines
3.7 KiB
C++
113 lines
3.7 KiB
C++
#include "zeus/CMatrix3f.hpp"
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#include "zeus/CQuaternion.hpp"
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#include "zeus/Global.hpp"
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namespace zeus {
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CMatrix3f::CMatrix3f(const CQuaternion& nq) {
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float x2 = nq.x() * nq.x();
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float y2 = nq.y() * nq.y();
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float z2 = nq.z() * nq.z();
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m[0][0] = 1.0 - 2.0 * y2 - 2.0 * z2;
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m[1][0] = 2.0 * nq.x() * nq.y() - 2.0 * nq.z() * nq.w();
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m[2][0] = 2.0 * nq.x() * nq.z() + 2.0 * nq.y() * nq.w();
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m[0][1] = 2.0 * nq.x() * nq.y() + 2.0 * nq.z() * nq.w();
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m[1][1] = 1.0 - 2.0 * x2 - 2.0 * z2;
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m[2][1] = 2.0 * nq.y() * nq.z() - 2.0 * nq.x() * nq.w();
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m[0][2] = 2.0 * nq.x() * nq.z() - 2.0 * nq.y() * nq.w();
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m[1][2] = 2.0 * nq.y() * nq.z() + 2.0 * nq.x() * nq.w();
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m[2][2] = 1.0 - 2.0 * x2 - 2.0 * y2;
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}
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void CMatrix3f::transpose() {
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#if __SSE__
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__m128 zero = _mm_xor_ps(m[0].mSimd.native(), m[0].mSimd.native());
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__m128 T0 = _mm_unpacklo_ps(m[0].mSimd.native(), m[1].mSimd.native());
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__m128 T2 = _mm_unpacklo_ps(m[2].mSimd.native(), zero);
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__m128 T1 = _mm_unpackhi_ps(m[0].mSimd.native(), m[1].mSimd.native());
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__m128 T3 = _mm_unpackhi_ps(m[2].mSimd.native(), zero);
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m[0].mSimd = _mm_movelh_ps(T0, T2);
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m[1].mSimd = _mm_movehl_ps(T2, T0);
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m[2].mSimd = _mm_movelh_ps(T1, T3);
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#elif __ARM_NEON
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float32x4x2_t P0 = vzipq_f32(m[0].mSimd.native(), m[2].mSimd.native());
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float32x4x2_t P1 = vzipq_f32(m[1].mSimd.native(), m[3].mSimd.native());
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float32x4x2_t T0 = vzipq_f32(P0.val[0], P1.val[0]);
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float32x4x2_t T1 = vzipq_f32(P0.val[1], P1.val[1]);
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m[0].mSimd = T0.val[0];
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m[1].mSimd = T0.val[1];
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m[2].mSimd = T1.val[0];
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#else
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float tmp;
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tmp = m[0][1];
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m[0][1] = m[1][0].operator float();
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m[1][0] = tmp;
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tmp = m[0][2];
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m[0][2] = m[2][0].operator float();
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m[2][0] = tmp;
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tmp = m[1][2];
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m[1][2] = m[2][1].operator float();
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m[2][1] = tmp;
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#endif
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}
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CMatrix3f CMatrix3f::transposed() const {
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#if __SSE__
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__m128 zero = _mm_xor_ps(m[0].mSimd.native(), m[0].mSimd.native());
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__m128 T0 = _mm_unpacklo_ps(m[0].mSimd.native(), m[1].mSimd.native());
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__m128 T2 = _mm_unpacklo_ps(m[2].mSimd.native(), zero);
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__m128 T1 = _mm_unpackhi_ps(m[0].mSimd.native(), m[1].mSimd.native());
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__m128 T3 = _mm_unpackhi_ps(m[2].mSimd.native(), zero);
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return CMatrix3f(_mm_movelh_ps(T0, T2), _mm_movehl_ps(T2, T0), _mm_movelh_ps(T1, T3));
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#elif __ARM_NEON
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float32x4x2_t P0 = vzipq_f32(m[0].mSimd.native(), m[2].mSimd.native());
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float32x4x2_t P1 = vzipq_f32(m[1].mSimd.native(), m[3].mSimd.native());
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float32x4x2_t T0 = vzipq_f32(P0.val[0], P1.val[0]);
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float32x4x2_t T1 = vzipq_f32(P0.val[1], P1.val[1]);
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return CMatrix3f(T0.val[0], T0.val[1], T1.val[0]);
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#else
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CMatrix3f ret(*this);
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float tmp;
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tmp = ret.m[0][1];
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ret.m[0][1] = ret.m[1][0].operator float();
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ret.m[1][0] = tmp;
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tmp = m[0][2];
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ret.m[0][2] = ret.m[2][0].operator float();
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ret.m[2][0] = tmp;
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tmp = m[1][2];
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ret.m[1][2] = ret.m[2][1].operator float();
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ret.m[2][1] = tmp;
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return ret;
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#endif
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}
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CMatrix3f CMatrix3f::inverted() const {
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float det = m[0][0] * m[1][1] * m[2][2] + m[1][0] * m[2][1] * m[0][2] + m[2][0] * m[0][1] * m[1][2] -
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m[0][2] * m[1][1] * m[2][0] - m[1][2] * m[2][1] * m[0][0] - m[2][2] * m[0][1] * m[1][0];
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if (det == 0.0)
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return CMatrix3f();
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det = 1.0f / det;
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return CMatrix3f((m[1][1] * m[2][2] - m[1][2] * m[2][1]) * det, -(m[1][0] * m[2][2] - m[1][2] * m[2][0]) * det,
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(m[1][0] * m[2][1] - m[1][1] * m[2][0]) * det, -(m[0][1] * m[2][2] - m[0][2] * m[2][1]) * det,
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(m[0][0] * m[2][2] - m[0][2] * m[2][0]) * det, -(m[0][0] * m[2][1] - m[0][1] * m[2][0]) * det,
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(m[0][1] * m[1][2] - m[0][2] * m[1][1]) * det, -(m[0][0] * m[1][2] - m[0][2] * m[1][0]) * det,
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(m[0][0] * m[1][1] - m[0][1] * m[1][0]) * det);
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}
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} // namespace zeus
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