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quaternion multiplication

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* convert quaternion multiplication to xyzw
* previous implementation may be wrong, wikipedia version implemented
* implement SSE version
This commit is contained in:
Recep Aslantas
2018-04-09 23:56:09 +03:00
parent 93a08fce17
commit 6f69da361b
7 changed files with 116 additions and 40 deletions
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29
include/cglm/simd/sse2/quat.h
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@@ -12,6 +12,35 @@
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_quat_mul_sse2(versor p, versor q, versor dest) {
/*
+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
a1 a2 − b1 b2 − c1 c2 − d1 d2
*/
__m128 xp, xq, x0, r;
xp = _mm_load_ps(p); /* 3 2 1 0 */
xq = _mm_load_ps(q);
r = _mm_mul_ps(_mm_shuffle1_ps1(xp, 3), xq);
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 0, 1, 2, 3)));
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 1, 0, 3, 2)));
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 2, 3, 0, 1)));
_mm_store_ps(dest, r);
}
CGLM_INLINE
void
glm_quat_slerp_sse2(versor q,