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