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improve matrix to quaternion

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This commit is contained in:
Recep Aslantas
2018-04-09 00:46:00 +03:00
parent 381b2fdcc0
commit f0daaca58b
5 changed files with 86 additions and 87 deletions
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51
include/cglm/simd/sse2/mat4.h
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@@ -102,57 +102,6 @@ glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
_mm_store_ps(dest, _mm_add_ps(x1, x2));
}
CGLM_INLINE
void
glm_mat4_quat_sse2(mat4 m, versor dest) {
__m128 c0, c1, c2, x0, x1, x2, x3, m00, m11, m22, r;
__m128 zero, one, half, ngone;
c0 = _mm_load_ps(m[0]);
c1 = _mm_load_ps(m[1]);
c2 = _mm_load_ps(m[2]);
m00 = _mm_xor_ps(_mm_shuffle1_ps1(c0, 0), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
m11 = _mm_xor_ps(_mm_shuffle1_ps1(c1, 1), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
m22 = _mm_xor_ps(_mm_shuffle1_ps1(c2, 2), _mm_set_ps( 0.f, -0.f, -0.f, 0.f));
x0 = _mm_set_ps(-1.0f, 0.0f, 0.5, 1.0f);
one = _mm_shuffle1_ps1(x0, 0);
half = _mm_shuffle1_ps1(x0, 1);
zero = _mm_shuffle1_ps1(x0, 2);
ngone = _mm_shuffle1_ps1(x0, 3);
/*
q[0] = sqrtf(glm_max(0.0f, 1.0f + m00 + m11 + m22)) * 0.5f;
q[1] = sqrtf(glm_max(0.0f, 1.0f + m00 - m11 - m22)) * 0.5f;
q[2] = sqrtf(glm_max(0.0f, 1.0f - m00 + m11 - m22)) * 0.5f;
q[3] = sqrtf(glm_max(0.0f, 1.0f - m00 - m11 + m22)) * 0.5f;
*/
x0 = _mm_add_ps(one, _mm_add_ps(_mm_add_ps(m00, m11), m22));
r = _mm_mul_ps(_mm_sqrt_ps(_mm_max_ps(zero, x0)), half);
/*
q[1] *= glm_signf(m12 - m21);
q[2] *= glm_signf(m20 - m02);
q[3] *= glm_signf(m01 - m10);
*/
x1 = _mm_shuffle_ps(c1, c2, _MM_SHUFFLE(0, 0, 2, 2)); /* m20 m20 m12 m12 */
x1 = _mm_shuffle_ps(x1, c0, _MM_SHUFFLE(1, 1, 2, 0)); /* m01 m01 m20 m12 */
x2 = _mm_shuffle_ps(c2, c0, _MM_SHUFFLE(2, 2, 1, 1)); /* m02 m02 m21 m21 */
x2 = _mm_shuffle_ps(x2, c1, _MM_SHUFFLE(0, 0, 2, 0)); /* m10 m10 m02 m21 */
x1 = _mm_sub_ps(x1, x2);
x2 = _mm_or_ps(_mm_and_ps(_mm_cmpgt_ps(x1, zero), one),
_mm_and_ps(_mm_cmplt_ps(x1, zero), ngone));
x2 = _mm_shuffle1_ps(x2, 2, 1, 0, 0);
x3 = _mm_shuffle_ps(one, x2, _MM_SHUFFLE(0, 0, 0, 0)); /* q1 q1 1 1 */
x3 = _mm_shuffle_ps(x3, x2, _MM_SHUFFLE(3, 2, 2, 0)); /* q3 q2 q1 1 */
_mm_store_ps(dest, _mm_mul_ps(r, x3));
}
CGLM_INLINE
float
glm_mat4_det_sse2(mat4 mat) {