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quat: add lerp and improve slerp

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Recep Aslantas
2018-04-10 12:38:54 +03:00
parent 416e2f4452
commit 290bcf134c
2 changed files with 35 additions and 83 deletions
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52
include/cglm/simd/sse2/quat.h
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@@ -41,58 +41,6 @@ glm_quat_mul_sse2(versor p, versor q, versor dest) {
_mm_store_ps(dest, r);
}
CGLM_INLINE
void
glm_quat_slerp_sse2(versor q,
versor r,
float t,
versor dest) {
/* https://en.wikipedia.org/wiki/Slerp */
float cosTheta, sinTheta, angle, a, b, c;
__m128 xmm_q;
xmm_q = _mm_load_ps(q);
cosTheta = glm_vec4_dot(q, r);
if (cosTheta < 0.0f) {
_mm_store_ps(q,
_mm_xor_ps(xmm_q,
_mm_set1_ps(-0.f))) ;
cosTheta = -cosTheta;
}
if (cosTheta >= 1.0f) {
_mm_store_ps(dest, xmm_q);
return;
}
sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
c = 1.0f - t;
/* LERP */
if (sinTheta < 0.001f) {
_mm_store_ps(dest, _mm_add_ps(_mm_mul_ps(_mm_set1_ps(c),
xmm_q),
_mm_mul_ps(_mm_set1_ps(t),
_mm_load_ps(r))));
return;
}
/* SLERP */
angle = acosf(cosTheta);
a = sinf(c * angle);
b = sinf(t * angle);
_mm_store_ps(dest,
_mm_div_ps(_mm_add_ps(_mm_mul_ps(_mm_set1_ps(a),
xmm_q),
_mm_mul_ps(_mm_set1_ps(b),
_mm_load_ps(r))),
_mm_set1_ps(sinTheta)));
}
#endif
#endif /* cglm_quat_simd_h */