Update affine.h

use epsilon to compare results in glm_uniscaled()
test: use custom epsilon to compare
2026-02-17 03:39:05 +00:00 · 2020-11-22 01:25:34 +03:00 · 2020-11-22 01:14:18 +03:00 · 2020-11-22 00:59:48 +03:00 · 2020-11-22 00:38:57 +03:00
29 changed files with 316 additions and 793 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8.2)
-project(cglm VERSION 0.8.2 LANGUAGES C)
+project(cglm VERSION 0.8.0 LANGUAGES C)

 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED YES)
@@ -18,7 +18,7 @@ else(CGLM_STATIC)
 endif()

 if(CGLM_USE_C99)
-  set(CMAKE_C_STANDARD 99)
+  set(C_STANDARD 99)
 endif()

 if(MSVC)
@@ -93,11 +93,6 @@ target_include_directories(${PROJECT_NAME}
        ${CMAKE_CURRENT_SOURCE_DIR}/src
 )

-# Target for header-only usage
-add_library(${PROJECT_NAME}_headers INTERFACE)
-target_include_directories(${PROJECT_NAME}_headers INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include)
-
 # Test Configuration
 if(CGLM_USE_TEST)
  include(CTest)
@@ -122,16 +117,6 @@ export(TARGETS ${PROJECT_NAME}
 )

 install(EXPORT      ${PROJECT_NAME}
-        FILE        "${PROJECT_NAME}Config.cmake"
        NAMESPACE   ${PROJECT_NAME}::
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)

-set(PACKAGE_NAME ${PROJECT_NAME})
-set(prefix ${CMAKE_INSTALL_PREFIX})
-set(exec_prefix ${CMAKE_INSTALL_PREFIX})
-set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
-set(libdir "\${prefix}/${CMAKE_INSTALL_LIBDIR}")
-configure_file(${CMAKE_CURRENT_LIST_DIR}/cglm.pc.in ${CMAKE_BINARY_DIR}/cglm.pc @ONLY)
-
-install(FILES ${CMAKE_BINARY_DIR}/cglm.pc
-  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
--- a/4
+++ b/4
@@ -74,7 +74,3 @@ Link to paper: http://webserver2.tecgraf.puc-rio.br/~mgattass/cg/trbRR/Fast%20Mi

 14. ARM NEON: Matrix Vector Multiplication
 https://stackoverflow.com/a/57793352/2676533
-
-16. ARM NEON Div
-
-http://github.com/microsoft/DirectXMath
--- a/README.md
+++ b/README.md
@@ -168,24 +168,6 @@ option(CGLM_USE_C99 "" OFF) # C11
 option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test
 ```

-#### Use as header-only library with your CMake project
-
-This requires no building or installation of cglm.
-
-* Example:
-
-``` cmake
-cmake_minimum_required(VERSION 3.8.2)
-
-project(<Your Project Name>)
-
-add_executable(${PROJECT_NAME} src/main.c)
-target_link_libraries(${LIBRARY_NAME} PRIVATE
-  cglm_headers)
-
-add_subdirectory(external/cglm/ EXCLUDE_FROM_ALL)
-```
-
 #### Use with your CMake project
 * Example:
 ```cmake
--- a/cglm.podspec
+++ b/cglm.podspec
@@ -2,7 +2,7 @@ Pod::Spec.new do |s|

  # Description
  s.name         = "cglm"
-  s.version      = "0.8.1"
+  s.version      = "0.7.9"
  s.summary      = "📽 Highly Optimized Graphics Math (glm) for C"
  s.description  = <<-DESC
 cglm is math library for graphics programming for C. See the documentation or README for all features.
--- a/configure.ac
+++ b/configure.ac
@@ -7,7 +7,7 @@
 #*****************************************************************************

 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.8.2], [info@recp.me])
+AC_INIT([cglm], [0.8.0], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects serial-tests])

 # Don't use the default cflags (-O2 -g), we set ours manually in Makefile.am.
--- a/docs/source/build.rst
+++ b/docs/source/build.rst
@@ -32,22 +32,6 @@ If you don't want to install **cglm** to your system's folder you can get static
  option(CGLM_USE_C99 "" OFF) # C11 
  option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test

-**Use as header-only library with your CMake project example**
-This requires no building or installation of cglm.
-
-.. code-block:: CMake
-  :linenos:
-
-  cmake_minimum_required(VERSION 3.8.2)
-  
-  project(<Your Project Name>)
-  
-  add_executable(${PROJECT_NAME} src/main.c)
-  target_link_libraries(${LIBRARY_NAME} PRIVATE
-    cglm_headers)
-  
-  add_subdirectory(external/cglm/ EXCLUDE_FROM_ALL)
-
 **Use with your CMake project example**

 .. code-block:: CMake
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.8.2'
+version = u'0.8.0'
 # The full version, including alpha/beta/rc tags.
-release = u'0.8.2'
+release = u'0.8.0'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
--- a/include/cglm/affine-mat.h
+++ b/include/cglm/affine-mat.h
@@ -26,10 +26,6 @@
 #  include "simd/avx/affine.h"
 #endif

-#ifdef CGLM_NEON_FP
-#  include "simd/neon/affine.h"
-#endif
-
 /*!
 * @brief this is similar to glm_mat4_mul but specialized to affine transform
 *
@@ -53,8 +49,6 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
  glm_mul_avx(m1, m2, dest);
 #elif defined( __SSE__ ) || defined( __SSE2__ )
  glm_mul_sse2(m1, m2, dest);
-#elif defined(CGLM_NEON_FP)
-  glm_mul_neon(m1, m2, dest);
 #else
  float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
        a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
@@ -109,8 +103,6 @@ void
 glm_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mul_rot_sse2(m1, m2, dest);
-#elif defined(CGLM_NEON_FP)
-  glm_mul_rot_neon(m1, m2, dest);
 #else
  float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
        a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
--- a/include/cglm/affine.h
+++ b/include/cglm/affine.h
@@ -50,22 +50,26 @@
 CGLM_INLINE
 void
 glm_translate(mat4 m, vec3 v) {
-#if defined(CGLM_SIMD)
-  glmm_128 m0, m1, m2, m3;
-
-  m0 = glmm_load(m[0]);
-  m1 = glmm_load(m[1]);
-  m2 = glmm_load(m[2]);
-  m3 = glmm_load(m[3]);
-
+#if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(m[3],
-             glmm_fmadd(m0, glmm_set1(v[0]),
-                        glmm_fmadd(m1, glmm_set1(v[1]),
-                                   glmm_fmadd(m2, glmm_set1(v[2]), m3))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
+                                              _mm_set1_ps(v[0])),
+                                   _mm_mul_ps(glmm_load(m[1]),
+                                              _mm_set1_ps(v[1]))),
+                        _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
+                                              _mm_set1_ps(v[2])),
+                                   glmm_load(m[3]))))
+  ;
 #else
-  glm_vec4_muladds(m[0], v[0], m[3]);
-  glm_vec4_muladds(m[1], v[1], m[3]);
-  glm_vec4_muladds(m[2], v[2], m[3]);
+  vec4 v1, v2, v3;
+
+  glm_vec4_scale(m[0], v[0], v1);
+  glm_vec4_scale(m[1], v[1], v2);
+  glm_vec4_scale(m[2], v[2], v3);
+
+  glm_vec4_add(v1, m[3], m[3]);
+  glm_vec4_add(v2, m[3], m[3]);
+  glm_vec4_add(v3, m[3], m[3]);
 #endif
 }

@@ -95,8 +99,12 @@ glm_translate_to(mat4 m, vec3 v, mat4 dest) {
 CGLM_INLINE
 void
 glm_translate_x(mat4 m, float x) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
+                                   _mm_set1_ps(x)),
+                        glmm_load(m[3])))
+  ;
 #else
  vec4 v1;
  glm_vec4_scale(m[0], x, v1);
@@ -113,8 +121,12 @@ glm_translate_x(mat4 m, float x) {
 CGLM_INLINE
 void
 glm_translate_y(mat4 m, float y) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[1]),
+                                   _mm_set1_ps(y)),
+                        glmm_load(m[3])))
+  ;
 #else
  vec4 v1;
  glm_vec4_scale(m[1], y, v1);
@@ -131,8 +143,12 @@ glm_translate_y(mat4 m, float y) {
 CGLM_INLINE
 void
 glm_translate_z(mat4 m, float z) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
+                                   _mm_set1_ps(z)),
+                        glmm_load(m[3])))
+  ;
 #else
  vec4 v1;
  glm_vec4_scale(m[2], z, v1);
@@ -409,7 +425,7 @@ bool
 glm_uniscaled(mat4 m) {
  CGLM_ALIGN(8) vec3 s;
  glm_decompose_scalev(m, s);
-  return glm_vec3_eq_all(s);
+  return glm_vec3_eq_eps(s, s[0]);
 }

 /*!
@@ -439,7 +455,7 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
  glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
  glm_vec4_scale(r[2], 1.0f/s[2], r[2]);

-  /* Note from Apple Open Source (assume that the matrix is orthonormal):
+  /* Note from Apple Open Source (asume that the matrix is orthonormal):
     check for a coordinate system flip.  If the determinant
     is -1, then negate the matrix and the scaling factors. */
  glm_vec3_cross(m[0], m[1], v);
--- a/include/cglm/box.h
+++ b/include/cglm/box.h
@@ -228,8 +228,6 @@ glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
 * https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
 * Solid Box - Solid Sphere test.
 *
- * Sphere Representation in cglm: [center.x, center.y, center.z, radii]
- *
 * @param[in]   box    solid bounding box
 * @param[in]   s      solid sphere
 */
@@ -239,13 +237,13 @@ glm_aabb_sphere(vec3 box[2], vec4 s) {
  float dmin;
  int   a, b, c;

-  a = (s[0] < box[0][0]) + (s[0] > box[1][0]);
-  b = (s[1] < box[0][1]) + (s[1] > box[1][1]);
-  c = (s[2] < box[0][2]) + (s[2] > box[1][2]);
+  a = s[0] >= box[0][0];
+  b = s[1] >= box[0][1];
+  c = s[2] >= box[0][2];

-  dmin  = glm_pow2((s[0] - box[!(a - 1)][0]) * (a != 0))
-        + glm_pow2((s[1] - box[!(b - 1)][1]) * (b != 0))
-        + glm_pow2((s[2] - box[!(c - 1)][2]) * (c != 0));
+  dmin  = glm_pow2(s[0] - box[a][0])
+        + glm_pow2(s[1] - box[b][1])
+        + glm_pow2(s[2] - box[c][2]);

  return dmin <= glm_pow2(s[3]);
 }
--- a/include/cglm/common.h
+++ b/include/cglm/common.h
@@ -42,12 +42,18 @@
 #include "types.h"
 #include "simd/intrin.h"

-#ifndef CGLM_USE_DEFAULT_EPSILON
+/** CGLM_USE_DEFAULT_EPSILON is removed, to override float epsilon,
+ *  just define GLM_FLT_EPSILON with epsilon value like below
+ *
+ *  #define GLM_FLT_EPSILON 1e-6f
+ */
+
 #ifndef GLM_FLT_EPSILON
-#    define GLM_FLT_EPSILON 1e-6
-#  endif
+#  ifndef FLT_EPSILON
+#    define GLM_FLT_EPSILON 1e-6f
 #  else
 #    define GLM_FLT_EPSILON FLT_EPSILON
 #  endif
+#endif

 #endif /* cglm_common_h */
--- a/include/cglm/mat4.h
+++ b/include/cglm/mat4.h
@@ -539,9 +539,7 @@ glm_mat4_scale_p(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_mat4_scale(mat4 m, float s) {
-#ifdef __AVX__
-  glm_mat4_scale_avx(m, s);
-#elif defined( __SSE__ ) || defined( __SSE2__ )
+#if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_scale_sse2(m, s);
 #elif defined(CGLM_NEON_FP)
  glm_mat4_scale_neon(m, s);
@@ -562,8 +560,6 @@ float
 glm_mat4_det(mat4 mat) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  return glm_mat4_det_sse2(mat);
-#elif defined(CGLM_NEON_FP)
-  return glm_mat4_det_neon(mat);
 #else
  /* [square] det(A) = det(At) */
  float t[6];
@@ -597,8 +593,6 @@ void
 glm_mat4_inv(mat4 mat, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_inv_sse2(mat, dest);
-#elif defined(CGLM_NEON_FP)
-  glm_mat4_inv_neon(mat, dest);
 #else
  float t[6];
  float det;
--- a/include/cglm/simd/arm.h
+++ b/include/cglm/simd/arm.h
@@ -10,42 +10,19 @@
 #include "intrin.h"
 #ifdef CGLM_SIMD_ARM

-#if defined(_M_ARM64) || defined(_M_HYBRID_X86_ARM64) || defined(_M_ARM64EC) || defined(__aarch64__)
-# define CGLM_ARM64 1
-#endif
-
 #define glmm_load(p)      vld1q_f32(p)
 #define glmm_store(p, a)  vst1q_f32(p, a)

-#define glmm_set1(x) vdupq_n_f32(x)
-#define glmm_128     float32x4_t
-
-#define glmm_splat_x(x) vdupq_lane_f32(vget_low_f32(x),  0)
-#define glmm_splat_y(x) vdupq_lane_f32(vget_low_f32(x),  1)
-#define glmm_splat_z(x) vdupq_lane_f32(vget_high_f32(x), 0)
-#define glmm_splat_w(x) vdupq_lane_f32(vget_high_f32(x), 1)
-
-#define glmm_xor(a, b)                                                        \
-  vreinterpretq_f32_s32(veorq_s32(vreinterpretq_s32_f32(a),                   \
-                                  vreinterpretq_s32_f32(b)))
-
 static inline
 float32x4_t
 glmm_abs(float32x4_t v) {
  return vabsq_f32(v);
 }

-static inline
-float32x4_t
-glmm_vhadd(float32x4_t v) {
-  v = vaddq_f32(v, vrev64q_f32(v));
-  return vaddq_f32(v, vcombine_f32(vget_high_f32(v), vget_low_f32(v)));
-}
-
 static inline
 float
 glmm_hadd(float32x4_t v) {
-#if CGLM_ARM64
+#if defined(__aarch64__)
  return vaddvq_f32(v);
 #else
  v = vaddq_f32(v, vrev64q_f32(v));
@@ -102,58 +79,5 @@ glmm_norm_inf(float32x4_t a) {
  return glmm_hmax(glmm_abs(a));
 }

-static inline
-float32x4_t
-glmm_div(float32x4_t a, float32x4_t b) {
-#if CGLM_ARM64
-  return vdivq_f32(a, b);
-#else
-  /* 2 iterations of Newton-Raphson refinement of reciprocal */
-  float32x4_t r0, r1;
-  r0 = vrecpeq_f32(b);
-  r1 = vrecpsq_f32(r0, b);
-  r0 = vmulq_f32(r1, r0);
-  r1 = vrecpsq_f32(r0, b);
-  r0 = vmulq_f32(r1, r0);
-  return vmulq_f32(a, r0);
-#endif
-}
-
-static inline
-float32x4_t
-glmm_fmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
-#if CGLM_ARM64
-  return vfmaq_f32(c, a, b); /* why vfmaq_f32 is slower than vmlaq_f32 ??? */
-#else
-  return vmlaq_f32(c, a, b);
-#endif
-}
-
-static inline
-float32x4_t
-glmm_fnmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
-#if CGLM_ARM64
-  return vfmsq_f32(c, a, b);
-#else
-  return vmlsq_f32(c, a, b);
-#endif
-}
-
-static inline
-float32x4_t
-glmm_fmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
-#if CGLM_ARM64
-  return vfmsq_f32(c, a, b);
-#else
-  return vmlsq_f32(c, a, b);
-#endif
-}
-
-static inline
-float32x4_t
-glmm_fnmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
-  return vsubq_f32(vdupq_n_f32(0.0f), glmm_fmadd(a, b, c));
-}
-
 #endif
 #endif /* cglm_simd_arm_h */
--- a/include/cglm/simd/avx/mat4.h
+++ b/include/cglm/simd/avx/mat4.h
@@ -14,16 +14,6 @@

 #include <immintrin.h>

-CGLM_INLINE
-void
-glm_mat4_scale_avx(mat4 m, float s) {
-  __m256 y0;
-  y0 = _mm256_set1_ps(s);
-  
-  glmm_store256(m[0], _mm256_mul_ps(y0, glmm_load256(m[0])));
-  glmm_store256(m[2], _mm256_mul_ps(y0, glmm_load256(m[2])));
-}
-
 CGLM_INLINE
 void
 glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
--- a/include/cglm/simd/neon/affine.h
+++ b/include/cglm/simd/neon/affine.h
@@ -1,80 +0,0 @@
-/*
- * Copyright (c), Recep Aslantas.
- *
- * MIT License (MIT), http://opensource.org/licenses/MIT
- * Full license can be found in the LICENSE file
- */
-
-#ifndef cglm_affine_neon_h
-#define cglm_affine_neon_h
-#if defined(__ARM_NEON_FP)
-
-#include "../../common.h"
-#include "../intrin.h"
-
-CGLM_INLINE
-void
-glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
-  /* D = R * L (Column-Major) */
-
-  glmm_128 l0, l1, l2, l3, r0, r1, r2, r3, v0, v1, v2, v3;
-
-  l0 = glmm_load(m1[0]);    r0 = glmm_load(m2[0]);
-  l1 = glmm_load(m1[1]);    r1 = glmm_load(m2[1]);
-  l2 = glmm_load(m1[2]);    r2 = glmm_load(m2[2]);
-  l3 = glmm_load(m1[3]);    r3 = glmm_load(m2[3]);
-
-  v0 = vmulq_f32(glmm_splat_x(r0), l0);
-  v1 = vmulq_f32(glmm_splat_x(r1), l0);
-  v2 = vmulq_f32(glmm_splat_x(r2), l0);
-  v3 = vmulq_f32(glmm_splat_x(r3), l0);
-
-  v0 = glmm_fmadd(glmm_splat_y(r0), l1, v0);
-  v1 = glmm_fmadd(glmm_splat_y(r1), l1, v1);
-  v2 = glmm_fmadd(glmm_splat_y(r2), l1, v2);
-  v3 = glmm_fmadd(glmm_splat_y(r3), l1, v3);
-
-  v0 = glmm_fmadd(glmm_splat_z(r0), l2, v0);
-  v1 = glmm_fmadd(glmm_splat_z(r1), l2, v1);
-  v2 = glmm_fmadd(glmm_splat_z(r2), l2, v2);
-  v3 = glmm_fmadd(glmm_splat_z(r3), l2, v3);
-
-  v3 = glmm_fmadd(glmm_splat_w(r3), l3, v3);
-
-  glmm_store(dest[0], v0);
-  glmm_store(dest[1], v1);
-  glmm_store(dest[2], v2);
-  glmm_store(dest[3], v3);
-}
-
-CGLM_INLINE
-void
-glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
-  /* D = R * L (Column-Major) */
-
-  glmm_128 l0, l1, l2, r0, r1, r2, v0, v1, v2;
-
-  l0 = glmm_load(m1[0]);    r0 = glmm_load(m2[0]);
-  l1 = glmm_load(m1[1]);    r1 = glmm_load(m2[1]);
-  l2 = glmm_load(m1[2]);    r2 = glmm_load(m2[2]);
-
-  v0 = vmulq_f32(glmm_splat_x(r0), l0);
-  v1 = vmulq_f32(glmm_splat_x(r1), l0);
-  v2 = vmulq_f32(glmm_splat_x(r2), l0);
-
-  v0 = glmm_fmadd(glmm_splat_y(r0), l1, v0);
-  v1 = glmm_fmadd(glmm_splat_y(r1), l1, v1);
-  v2 = glmm_fmadd(glmm_splat_y(r2), l1, v2);
-
-  v0 = glmm_fmadd(glmm_splat_z(r0), l2, v0);
-  v1 = glmm_fmadd(glmm_splat_z(r1), l2, v1);
-  v2 = glmm_fmadd(glmm_splat_z(r2), l2, v2);
-
-  glmm_store(dest[0], v0);
-  glmm_store(dest[1], v1);
-  glmm_store(dest[2], v2);
-  glmm_store(dest[3], glmm_load(m1[3]));
-}
-
-#endif
-#endif /* cglm_affine_neon_h */
--- a/include/cglm/simd/neon/mat4.h
+++ b/include/cglm/simd/neon/mat4.h
@@ -42,38 +42,41 @@ CGLM_INLINE
 void
 glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */
+  float32x4_t l0, l1, l2, l3, r, d0, d1, d2, d3;

-  glmm_128 l0, l1, l2, l3, r0, r1, r2, r3, v0, v1, v2, v3;
+  l0 = vld1q_f32(m2[0]);
+  l1 = vld1q_f32(m2[1]);
+  l2 = vld1q_f32(m2[2]);
+  l3 = vld1q_f32(m2[3]);

-  l0 = glmm_load(m1[0]);    r0 = glmm_load(m2[0]);
-  l1 = glmm_load(m1[1]);    r1 = glmm_load(m2[1]);
-  l2 = glmm_load(m1[2]);    r2 = glmm_load(m2[2]);
-  l3 = glmm_load(m1[3]);    r3 = glmm_load(m2[3]);
+  r  = vld1q_f32(m1[0]);
+  d0 = vmulq_lane_f32(r, vget_low_f32(l0), 0);
+  d1 = vmulq_lane_f32(r, vget_low_f32(l1), 0);
+  d2 = vmulq_lane_f32(r, vget_low_f32(l2), 0);
+  d3 = vmulq_lane_f32(r, vget_low_f32(l3), 0);

-  v0 = vmulq_f32(glmm_splat_x(r0), l0);
-  v1 = vmulq_f32(glmm_splat_x(r1), l0);
-  v2 = vmulq_f32(glmm_splat_x(r2), l0);
-  v3 = vmulq_f32(glmm_splat_x(r3), l0);
+  r  = vld1q_f32(m1[1]);
+  d0 = vmlaq_lane_f32(d0, r, vget_low_f32(l0), 1);
+  d1 = vmlaq_lane_f32(d1, r, vget_low_f32(l1), 1);
+  d2 = vmlaq_lane_f32(d2, r, vget_low_f32(l2), 1);
+  d3 = vmlaq_lane_f32(d3, r, vget_low_f32(l3), 1);

-  v0 = glmm_fmadd(glmm_splat_y(r0), l1, v0);
-  v1 = glmm_fmadd(glmm_splat_y(r1), l1, v1);
-  v2 = glmm_fmadd(glmm_splat_y(r2), l1, v2);
-  v3 = glmm_fmadd(glmm_splat_y(r3), l1, v3);
+  r  = vld1q_f32(m1[2]);
+  d0 = vmlaq_lane_f32(d0, r, vget_high_f32(l0), 0);
+  d1 = vmlaq_lane_f32(d1, r, vget_high_f32(l1), 0);
+  d2 = vmlaq_lane_f32(d2, r, vget_high_f32(l2), 0);
+  d3 = vmlaq_lane_f32(d3, r, vget_high_f32(l3), 0);

-  v0 = glmm_fmadd(glmm_splat_z(r0), l2, v0);
-  v1 = glmm_fmadd(glmm_splat_z(r1), l2, v1);
-  v2 = glmm_fmadd(glmm_splat_z(r2), l2, v2);
-  v3 = glmm_fmadd(glmm_splat_z(r3), l2, v3);
+  r  = vld1q_f32(m1[3]);
+  d0 = vmlaq_lane_f32(d0, r, vget_high_f32(l0), 1);
+  d1 = vmlaq_lane_f32(d1, r, vget_high_f32(l1), 1);
+  d2 = vmlaq_lane_f32(d2, r, vget_high_f32(l2), 1);
+  d3 = vmlaq_lane_f32(d3, r, vget_high_f32(l3), 1);

-  v0 = glmm_fmadd(glmm_splat_w(r0), l3, v0);
-  v1 = glmm_fmadd(glmm_splat_w(r1), l3, v1);
-  v2 = glmm_fmadd(glmm_splat_w(r2), l3, v2);
-  v3 = glmm_fmadd(glmm_splat_w(r3), l3, v3);
-
-  glmm_store(dest[0], v0);
-  glmm_store(dest[1], v1);
-  glmm_store(dest[2], v2);
-  glmm_store(dest[3], v3);
+  vst1q_f32(dest[0], d0);
+  vst1q_f32(dest[1], d1);
+  vst1q_f32(dest[2], d2);
+  vst1q_f32(dest[3], d3);
 }

 CGLM_INLINE
@@ -98,216 +101,5 @@ glm_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
  vst1q_f32(dest, l0);
 }

-CGLM_INLINE
-float
-glm_mat4_det_neon(mat4 mat) {
-  float32x4_t   r0, r1, r2, r3, x0, x1, x2;
-  float32x2_t   ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
-  float32x4x2_t a1;
-  float32x4_t   x3 = { 0.f, -0.f, 0.f, -0.f };
-
-  /* 127 <- 0, [square] det(A) = det(At) */
-  r0 = glmm_load(mat[0]);              /* d c b a */
-  r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
-  r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
-  r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
-
-  gh = vget_high_f32(r1);
-  ef = vget_low_f32(r1);
-  kl = vget_high_f32(r2);
-  ij = vget_low_f32(r2);
-  op = vget_high_f32(r3);
-  mn = vget_low_f32(r3);
-  mm = vdup_lane_f32(mn, 1);
-  nn = vdup_lane_f32(mn, 0);
-  ii = vdup_lane_f32(ij, 1);
-  jj = vdup_lane_f32(ij, 0);
-  
-  /*
-   t[1] = j * p - n * l;
-   t[2] = j * o - n * k;
-   t[3] = i * p - m * l;
-   t[4] = i * o - m * k;
-   */
-  x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
-                   vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
-
-  t12 = vget_low_f32(x0);
-  t34 = vget_high_f32(x0);
-  
-  /* 1 3 1 3 2 4 2 4 */
-  a1 = vuzpq_f32(x0, x0);
-  
-  /*
-   t[0] = k * p - o * l;
-   t[0] = k * p - o * l;
-   t[5] = i * n - m * j;
-   t[5] = i * n - m * j;
-   */
-  x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
-                   vcombine_f32(vdup_lane_f32(op, 1), mm),
-                   vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
-                             vcombine_f32(vdup_lane_f32(kl, 1), ii)));
-
-  /*
-     a * (f * t[0] - g * t[1] + h * t[2])
-   - b * (e * t[0] - g * t[3] + h * t[4])
-   + c * (e * t[1] - f * t[3] + h * t[5])
-   - d * (e * t[2] - f * t[4] + g * t[5])
-   */
-  x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
-                   vcombine_f32(vget_low_f32(a1.val[0]), t34),
-                   vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
-                             vcombine_f32(vget_low_f32(x1), t12)));
-
-  x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
-                  vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
-
-  x2 = glmm_xor(x2, x3);
-
-  return glmm_hadd(vmulq_f32(x2, r0));
-}
-
-CGLM_INLINE
-void
-glm_mat4_inv_neon(mat4 mat, mat4 dest) {
-  float32x4_t   r0, r1, r2, r3,
-                v0, v1, v2, v3,
-                t0, t1, t2, t3, t4, t5,
-                x0, x1, x2, x3, x4, x5, x6, x7, x8;
-  float32x4x2_t a1;
-  float32x2_t   lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
-  float32x4_t   x9 = { -0.f, 0.f, -0.f, 0.f };
-
-  x8 = vrev64q_f32(x9);
-
-  /* 127 <- 0 */
-  r0 = glmm_load(mat[0]); /* d c b a */
-  r1 = glmm_load(mat[1]); /* h g f e */
-  r2 = glmm_load(mat[2]); /* l k j i */
-  r3 = glmm_load(mat[3]); /* p o n m */
-  
-  /* l p k o, j n i m */
-  a1  = vzipq_f32(r3, r2);
-  
-  jn  = vget_high_f32(a1.val[0]);
-  im  = vget_low_f32(a1.val[0]);
-  lp  = vget_high_f32(a1.val[1]);
-  ko  = vget_low_f32(a1.val[1]);
-  hg  = vget_high_f32(r1);
-
-  x1  = vcombine_f32(vdup_lane_f32(lp, 0), lp);                   /* l p p p */
-  x2  = vcombine_f32(vdup_lane_f32(ko, 0), ko);                   /* k o o o */
-  x0  = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
-  x3  = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
-  
-  /* t1[0] = k * p - o * l;
-     t1[0] = k * p - o * l;
-     t2[0] = g * p - o * h;
-     t3[0] = g * l - k * h; */
-  t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
-
-  fe = vget_low_f32(r1);
-  x4 = vcombine_f32(vdup_lane_f32(jn, 0), jn);                   /* j n n n */
-  x5 = vcombine_f32(vdup_lane_f32(jn, 1), vdup_lane_f32(fe, 1)); /* f f j j */
-  
-  /* t1[1] = j * p - n * l;
-     t1[1] = j * p - n * l;
-     t2[1] = f * p - n * h;
-     t3[1] = f * l - j * h; */
-   t1 = glmm_fnmadd(x4, x0, vmulq_f32(x5, x1));
-  
-  /* t1[2] = j * o - n * k
-     t1[2] = j * o - n * k;
-     t2[2] = f * o - n * g;
-     t3[2] = f * k - j * g; */
-  t2 = glmm_fnmadd(x4, x3, vmulq_f32(x5, x2));
-  
-  x6 = vcombine_f32(vdup_lane_f32(im, 1), vdup_lane_f32(fe, 0)); /* e e i i */
-  x7 = vcombine_f32(vdup_lane_f32(im, 0), im);                   /* i m m m */
-  
-  /* t1[3] = i * p - m * l;
-     t1[3] = i * p - m * l;
-     t2[3] = e * p - m * h;
-     t3[3] = e * l - i * h; */
-  t3 = glmm_fnmadd(x7, x0, vmulq_f32(x6, x1));
-  
-  /* t1[4] = i * o - m * k;
-     t1[4] = i * o - m * k;
-     t2[4] = e * o - m * g;
-     t3[4] = e * k - i * g; */
-  t4 = glmm_fnmadd(x7, x3, vmulq_f32(x6, x2));
-  
-  /* t1[5] = i * n - m * j;
-     t1[5] = i * n - m * j;
-     t2[5] = e * n - m * f;
-     t3[5] = e * j - i * f; */
-  t5 = glmm_fnmadd(x7, x5, vmulq_f32(x6, x4));
-  
-  /* h d f b, g c e a */
-  a1 = vtrnq_f32(r0, r1);
-  
-  x4 = vrev64q_f32(a1.val[0]); /* c g a e */
-  x5 = vrev64q_f32(a1.val[1]); /* d h b f */
-
-  ae = vget_low_f32(x4);
-  cg = vget_high_f32(x4);
-  bf = vget_low_f32(x5);
-  dh = vget_high_f32(x5);
-  
-  x0 = vcombine_f32(ae, vdup_lane_f32(ae, 1)); /* a a a e */
-  x1 = vcombine_f32(bf, vdup_lane_f32(bf, 1)); /* b b b f */
-  x2 = vcombine_f32(cg, vdup_lane_f32(cg, 1)); /* c c c g */
-  x3 = vcombine_f32(dh, vdup_lane_f32(dh, 1)); /* d d d h */
-  
-  /*
-   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
-   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
-   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
-   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
-  v0 = glmm_xor(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, vmulq_f32(x1, t0))), x8);
-  
-  /*
-   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
-   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
-   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
-   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
-  v2 = glmm_xor(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, vmulq_f32(x0, t1))), x8);
-
-  /*
-   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
-   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
-   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
-   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
-  v1 = glmm_xor(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, vmulq_f32(x0, t0))), x9);
-  
-  /*
-   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
-   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
-   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
-   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
-  v3 = glmm_xor(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, vmulq_f32(x0, t2))), x9);
-
-  /* determinant */
-  x0 = vcombine_f32(vget_low_f32(vzipq_f32(v0, v1).val[0]),
-                    vget_low_f32(vzipq_f32(v2, v3).val[0]));
-
-  /*
-  x0 = glmm_div(glmm_set1(1.0f), glmm_vhadd(vmulq_f32(x0, r0)));
-
-  glmm_store(dest[0], vmulq_f32(v0, x0));
-  glmm_store(dest[1], vmulq_f32(v1, x0));
-  glmm_store(dest[2], vmulq_f32(v2, x0));
-  glmm_store(dest[3], vmulq_f32(v3, x0));
-  */
-
-  x0 = glmm_vhadd(vmulq_f32(x0, r0));
-
-  glmm_store(dest[0], glmm_div(v0, x0));
-  glmm_store(dest[1], glmm_div(v1, x0));
-  glmm_store(dest[2], glmm_div(v2, x0));
-  glmm_store(dest[3], glmm_div(v3, x0));
-}
-
 #endif
 #endif /* cglm_mat4_neon_h */
--- a/include/cglm/simd/sse2/affine.h
+++ b/include/cglm/simd/sse2/affine.h
@@ -25,28 +25,28 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {

  r = glmm_load(m2[0]);
  glmm_store(dest[0],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  r = glmm_load(m2[1]);
  glmm_store(dest[1],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  r = glmm_load(m2[2]);
  glmm_store(dest[2],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  r = glmm_load(m2[3]);
  glmm_store(dest[3],
-       glmm_fmadd(glmm_splat(r, 0), l0,
-                  glmm_fmadd(glmm_splat(r, 1), l1,
-                             glmm_fmadd(glmm_splat(r, 2), l2,
-                                        _mm_mul_ps(glmm_splat(r, 3), l3)))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
 }

 CGLM_INLINE
@@ -62,22 +62,21 @@ glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {

  r = glmm_load(m2[0]);
  glmm_store(dest[0],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  r = glmm_load(m2[1]);
  glmm_store(dest[1],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
-  
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  r = glmm_load(m2[2]);
  glmm_store(dest[2],
-             glmm_fmadd(glmm_splat(r, 0), l0,
-                        glmm_fmadd(glmm_splat(r, 1), l1,
-                                   _mm_mul_ps(glmm_splat(r, 2), l2))));
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

  glmm_store(dest[3], l3);
 }
@@ -95,9 +94,9 @@ glm_inv_tr_sse2(mat4 mat) {

  _MM_TRANSPOSE4_PS(r0, r1, r2, x1);

-  x0 = glmm_fmadd(r0, glmm_shuff1(r3, 0, 0, 0, 0),
-             glmm_fmadd(r1, glmm_shuff1(r3, 1, 1, 1, 1),
-                        _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2))));
+  x0 = _mm_add_ps(_mm_mul_ps(r0, glmm_shuff1(r3, 0, 0, 0, 0)),
+                  _mm_mul_ps(r1, glmm_shuff1(r3, 1, 1, 1, 1)));
+  x0 = _mm_add_ps(x0, _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2)));
  x0 = _mm_xor_ps(x0, _mm_set1_ps(-0.f));

  x0 = _mm_add_ps(x0, x1);
--- a/include/cglm/simd/sse2/mat2.h
+++ b/include/cglm/simd/sse2/mat2.h
@@ -26,11 +26,11 @@ glm_mat2_mul_sse2(mat2 m1, mat2 m2, mat2 dest) {
   dest[1][0] = a * g + c * h;
   dest[1][1] = b * g + d * h;
   */
-  x0 = glmm_fmadd(_mm_movelh_ps(x1, x1), glmm_shuff1(x2, 2, 2, 0, 0),
-                  _mm_mul_ps(_mm_movehl_ps(x1, x1),
-                             glmm_shuff1(x2, 3, 3, 1, 1)));
+  x0 = _mm_mul_ps(_mm_movelh_ps(x1, x1), glmm_shuff1(x2, 2, 2, 0, 0));
+  x1 = _mm_mul_ps(_mm_movehl_ps(x1, x1), glmm_shuff1(x2, 3, 3, 1, 1));
+  x1 = _mm_add_ps(x0, x1);

-  glmm_store(dest[0], x0);
+  glmm_store(dest[0], x1);
 }

 CGLM_INLINE
--- a/include/cglm/simd/sse2/mat3.h
+++ b/include/cglm/simd/sse2/mat3.h
@@ -30,16 +30,23 @@ glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
  x1 = glmm_shuff2(l0, l1, 1, 0, 3, 3, 0, 3, 2, 0);
  x2 = glmm_shuff2(l1, l2, 0, 0, 3, 2, 0, 2, 1, 0);

-  x0 = glmm_fmadd(glmm_shuff1(l0, 0, 2, 1, 0), glmm_shuff1(r0, 3, 0, 0, 0),
-                  glmm_fmadd(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0),
-                             _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0))));
+  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 0, 2, 1, 0),
+                             glmm_shuff1(r0, 3, 0, 0, 0)),
+                  _mm_mul_ps(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0)));
+
+  x0 = _mm_add_ps(x0,
+                  _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0)));

  _mm_storeu_ps(dest[0], x0);

-  x0 = glmm_fmadd(glmm_shuff1(l0, 1, 0, 2, 1), _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3)),
-                  glmm_fmadd(glmm_shuff1(x1, 1, 0, 2, 1), glmm_shuff1(r1, 3, 3, 0, 0),
+  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 1, 0, 2, 1),
+                             _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3))),
+                  _mm_mul_ps(glmm_shuff1(x1, 1, 0, 2, 1),
+                             glmm_shuff1(r1, 3, 3, 0, 0)));
+
+  x0 = _mm_add_ps(x0,
                  _mm_mul_ps(glmm_shuff1(x2, 1, 0, 2, 1),
-                                        _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1)))));
+                             _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1))));

  _mm_storeu_ps(&dest[1][1], x0);

--- a/include/cglm/simd/sse2/mat4.h
+++ b/include/cglm/simd/sse2/mat4.h
@@ -56,36 +56,46 @@ glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
  l2 = glmm_load(m1[2]);
  l3 = glmm_load(m1[3]);

-#define XX(C)                                                                 \
-                                                                              \
-  r = glmm_load(m2[C]);                                                       \
-  glmm_store(dest[C],                                                         \
-       glmm_fmadd(glmm_splat(r, 0), l0,                                       \
-                   glmm_fmadd(glmm_splat(r, 1), l1,                           \
-                             glmm_fmadd(glmm_splat(r, 2), l2,                 \
-                                         _mm_mul_ps(glmm_splat(r, 3), l3)))));
+  r = glmm_load(m2[0]);
+  glmm_store(dest[0],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+  r = glmm_load(m2[1]);
+  glmm_store(dest[1],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+  r = glmm_load(m2[2]);
+  glmm_store(dest[2],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));

-  XX(0);
-  XX(1);
-  XX(2);
-  XX(3);
-
-#undef XX
+  r = glmm_load(m2[3]);
+  glmm_store(dest[3],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
 }

 CGLM_INLINE
 void
 glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
-  __m128 x0, x1;
+  __m128 x0, x1, x2;

  x0 = glmm_load(v);
-  x1 = glmm_fmadd(glmm_load(m[0]), glmm_splat(x0, 0),
-                  glmm_fmadd(glmm_load(m[1]), glmm_splat(x0, 1),
-                             glmm_fmadd(glmm_load(m[2]), glmm_splat(x0, 2),
-                                        _mm_mul_ps(glmm_load(m[3]),
-                                                   glmm_splat(x0, 3)))));
+  x1 = _mm_add_ps(_mm_mul_ps(glmm_load(m[0]), glmm_shuff1x(x0, 0)),
+                  _mm_mul_ps(glmm_load(m[1]), glmm_shuff1x(x0, 1)));

-  glmm_store(dest, x1);
+  x2 = _mm_add_ps(_mm_mul_ps(glmm_load(m[2]), glmm_shuff1x(x0, 2)),
+                  _mm_mul_ps(glmm_load(m[3]), glmm_shuff1x(x0, 3)));
+
+  glmm_store(dest, _mm_add_ps(x1, x2));
 }

 CGLM_INLINE
@@ -105,18 +115,20 @@ glm_mat4_det_sse2(mat4 mat) {
   t[3] = i * p - m * l;
   t[4] = i * o - m * k;
   */
-  x0 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 1, 1), glmm_shuff1(r2, 2, 3, 2, 3),
-                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
-                              glmm_shuff1(r3, 2, 3, 2, 3)));
+  x0 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
+                             glmm_shuff1(r3, 2, 3, 2, 3)),
+                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 1, 1),
+                             glmm_shuff1(r2, 2, 3, 2, 3)));
  /*
   t[0] = k * p - o * l;
   t[0] = k * p - o * l;
   t[5] = i * n - m * j;
   t[5] = i * n - m * j;
   */
-  x1 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 2, 2), glmm_shuff1(r2, 1, 1, 3, 3),
-                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
-                              glmm_shuff1(r3, 1, 1, 3, 3)));
+  x1 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
+                             glmm_shuff1(r3, 1, 1, 3, 3)),
+                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 2, 2),
+                             glmm_shuff1(r2, 1, 1, 3, 3)));

  /*
     a * (f * t[0] - g * t[1] + h * t[2])
@@ -124,16 +136,21 @@ glm_mat4_det_sse2(mat4 mat) {
   + c * (e * t[1] - f * t[3] + h * t[5])
   - d * (e * t[2] - f * t[4] + g * t[5])
   */
-  x2 = glmm_fnmadd(glmm_shuff1(r1, 1, 1, 2, 2), glmm_shuff1(x0, 3, 2, 2, 0),
-                   _mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
-                              _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))));
-  x2 = glmm_fmadd(glmm_shuff1(r1, 2, 3, 3, 3),
-                  _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1)),
-                  x2);
+  x2 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
+                             _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))),
+                  _mm_mul_ps(glmm_shuff1(r1, 1, 1, 2, 2),
+                             glmm_shuff1(x0, 3, 2, 2, 0)));

+  x2 = _mm_add_ps(x2,
+                  _mm_mul_ps(glmm_shuff1(r1, 2, 3, 3, 3),
+                             _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1))));
  x2 = _mm_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

-  return glmm_hadd(_mm_mul_ps(x2, r0));
+  x0 = _mm_mul_ps(r0, x2);
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 3, 3, 1));
+
+  return _mm_cvtss_f32(x0);
 }

 CGLM_INLINE
@@ -142,10 +159,7 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
-         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
-  
-  x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
-  x9 = glmm_shuff1(x8, 2, 1, 2, 1);
+         x0, x1, x2, x3, x4, x5, x6, x7;

  /* 127 <- 0 */
  r0 = glmm_load(mat[0]); /* d c b a */
@@ -163,7 +177,7 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
     t1[0] = k * p - o * l;
     t2[0] = g * p - o * h;
     t3[0] = g * l - k * h; */
-  t0 = glmm_fnmadd(x2, x0, _mm_mul_ps(x3, x1));
+  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));

  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
@@ -173,13 +187,13 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
     t1[1] = j * p - n * l;
     t2[1] = f * p - n * h;
     t3[1] = f * l - j * h; */
-   t1 = glmm_fnmadd(x4, x0, _mm_mul_ps(x5, x1));
+  t1 = _mm_sub_ps(_mm_mul_ps(x5, x1), _mm_mul_ps(x4, x0));

  /* t1[2] = j * o - n * k
     t1[2] = j * o - n * k;
     t2[2] = f * o - n * g;
     t3[2] = f * k - j * g; */
-  t2 = glmm_fnmadd(x4, x3, _mm_mul_ps(x5, x2));
+  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */
@@ -188,19 +202,19 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
     t1[3] = i * p - m * l;
     t2[3] = e * p - m * h;
     t3[3] = e * l - i * h; */
-  t3 = glmm_fnmadd(x7, x0, _mm_mul_ps(x6, x1));
+  t3 = _mm_sub_ps(_mm_mul_ps(x6, x1), _mm_mul_ps(x7, x0));

  /* t1[4] = i * o - m * k;
     t1[4] = i * o - m * k;
     t2[4] = e * o - m * g;
     t3[4] = e * k - i * g; */
-  t4 = glmm_fnmadd(x7, x3, _mm_mul_ps(x6, x2));
+  t4 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));

  /* t1[5] = i * n - m * j;
     t1[5] = i * n - m * j;
     t2[5] = e * n - m * f;
     t3[5] = e * j - i * f; */
-  t5 = glmm_fnmadd(x7, x5, _mm_mul_ps(x6, x4));
+  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));

  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
@@ -212,35 +226,50 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
-  v0 = _mm_xor_ps(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, _mm_mul_ps(x1, t0))), x8);
-  
-  /*
-   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
-   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
-   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
-   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
-  v2 = _mm_xor_ps(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, _mm_mul_ps(x0, t1))), x8);
+  v0 = _mm_add_ps(_mm_mul_ps(x3, t2),
+                  _mm_sub_ps(_mm_mul_ps(x1, t0),
+                             _mm_mul_ps(x2, t1)));
+  v0 = _mm_xor_ps(v0, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

  /*
   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
-  v1 = _mm_xor_ps(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, _mm_mul_ps(x0, t0))), x9);
+  v1 = _mm_add_ps(_mm_mul_ps(x3, t4),
+                  _mm_sub_ps(_mm_mul_ps(x0, t0),
+                             _mm_mul_ps(x2, t3)));
+  v1 = _mm_xor_ps(v1, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
+
+  /*
+   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
+   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
+   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
+   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
+  v2 = _mm_add_ps(_mm_mul_ps(x3, t5),
+                  _mm_sub_ps(_mm_mul_ps(x0, t1),
+                             _mm_mul_ps(x1, t3)));
+  v2 = _mm_xor_ps(v2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

  /*
   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
-  v3 = _mm_xor_ps(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, _mm_mul_ps(x0, t2))), x9);
+  v3 = _mm_add_ps(_mm_mul_ps(x2, t5),
+                  _mm_sub_ps(_mm_mul_ps(x0, t2),
+                             _mm_mul_ps(x1, t4)));
+  v3 = _mm_xor_ps(v3, _mm_set_ps(0.f, -0.f, 0.f, -0.f));

  /* determinant */
  x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
  x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

-  x0 = _mm_rcp_ps(glmm_vhadd(_mm_mul_ps(x0, r0)));
+  x0 = _mm_mul_ps(x0, r0);
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
+  x0 = _mm_rcp_ps(x0);

  glmm_store(dest[0], _mm_mul_ps(v0, x0));
  glmm_store(dest[1], _mm_mul_ps(v1, x0));
@@ -254,10 +283,7 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
-         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
-  
-  x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
-  x9 = glmm_shuff1(x8, 2, 1, 2, 1);
+         x0, x1, x2, x3, x4, x5, x6, x7;

  /* 127 <- 0 */
  r0 = glmm_load(mat[0]); /* d c b a */
@@ -275,7 +301,7 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
     t1[0] = k * p - o * l;
     t2[0] = g * p - o * h;
     t3[0] = g * l - k * h; */
-  t0 = glmm_fnmadd(x2, x0, _mm_mul_ps(x3, x1));
+  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));

  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
@@ -285,13 +311,13 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
     t1[1] = j * p - n * l;
     t2[1] = f * p - n * h;
     t3[1] = f * l - j * h; */
-   t1 = glmm_fnmadd(x4, x0, _mm_mul_ps(x5, x1));
+  t1 = _mm_sub_ps(_mm_mul_ps(x5, x1), _mm_mul_ps(x4, x0));

  /* t1[2] = j * o - n * k
     t1[2] = j * o - n * k;
     t2[2] = f * o - n * g;
     t3[2] = f * k - j * g; */
-  t2 = glmm_fnmadd(x4, x3, _mm_mul_ps(x5, x2));
+  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */
@@ -300,19 +326,19 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
     t1[3] = i * p - m * l;
     t2[3] = e * p - m * h;
     t3[3] = e * l - i * h; */
-  t3 = glmm_fnmadd(x7, x0, _mm_mul_ps(x6, x1));
+  t3 = _mm_sub_ps(_mm_mul_ps(x6, x1), _mm_mul_ps(x7, x0));

  /* t1[4] = i * o - m * k;
     t1[4] = i * o - m * k;
     t2[4] = e * o - m * g;
     t3[4] = e * k - i * g; */
-  t4 = glmm_fnmadd(x7, x3, _mm_mul_ps(x6, x2));
+  t4 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));

  /* t1[5] = i * n - m * j;
     t1[5] = i * n - m * j;
     t2[5] = e * n - m * f;
     t3[5] = e * j - i * f; */
-  t5 = glmm_fnmadd(x7, x5, _mm_mul_ps(x6, x4));
+  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));

  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
@@ -324,35 +350,50 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
-  v0 = _mm_xor_ps(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, _mm_mul_ps(x1, t0))), x8);
-  
-  /*
-   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
-   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
-   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
-   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
-  v2 = _mm_xor_ps(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, _mm_mul_ps(x0, t1))), x8);
+  v0 = _mm_add_ps(_mm_mul_ps(x3, t2),
+                  _mm_sub_ps(_mm_mul_ps(x1, t0),
+                             _mm_mul_ps(x2, t1)));
+  v0 = _mm_xor_ps(v0, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

  /*
   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
-  v1 = _mm_xor_ps(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, _mm_mul_ps(x0, t0))), x9);
+  v1 = _mm_add_ps(_mm_mul_ps(x3, t4),
+                  _mm_sub_ps(_mm_mul_ps(x0, t0),
+                             _mm_mul_ps(x2, t3)));
+  v1 = _mm_xor_ps(v1, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
+
+  /*
+   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
+   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
+   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
+   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
+  v2 = _mm_add_ps(_mm_mul_ps(x3, t5),
+                  _mm_sub_ps(_mm_mul_ps(x0, t1),
+                             _mm_mul_ps(x1, t3)));
+  v2 = _mm_xor_ps(v2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

  /*
   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
-  v3 = _mm_xor_ps(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, _mm_mul_ps(x0, t2))), x9);
+  v3 = _mm_add_ps(_mm_mul_ps(x2, t5),
+                  _mm_sub_ps(_mm_mul_ps(x0, t2),
+                             _mm_mul_ps(x1, t4)));
+  v3 = _mm_xor_ps(v3, _mm_set_ps(0.f, -0.f, 0.f, -0.f));

  /* determinant */
  x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
  x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

-  x0 = _mm_div_ps(_mm_set1_ps(1.0f), glmm_vhadd(_mm_mul_ps(x0, r0)));
+  x0 = _mm_mul_ps(x0, r0);
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
+  x0 = _mm_div_ps(_mm_set1_ps(1.0f), x0);

  glmm_store(dest[0], _mm_mul_ps(v0, x0));
  glmm_store(dest[1], _mm_mul_ps(v1, x0));
--- a/include/cglm/simd/sse2/quat.h
+++ b/include/cglm/simd/sse2/quat.h
@@ -27,15 +27,15 @@ glm_quat_mul_sse2(versor p, versor q, versor dest) {
  xp = glmm_load(p); /* 3 2 1 0 */
  xq = glmm_load(q);

-  r  = _mm_mul_ps(glmm_splat(xp, 3), xq);
+  r  = _mm_mul_ps(glmm_shuff1x(xp, 3), xq);

-  x0 = _mm_xor_ps(glmm_splat(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 0, 1, 2, 3)));

-  x0 = _mm_xor_ps(glmm_splat(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 1, 0, 3, 2)));

-  x0 = _mm_xor_ps(glmm_splat(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 2, 3, 0, 1)));

  glmm_store(dest, r);
--- a/include/cglm/simd/x86.h
+++ b/include/cglm/simd/x86.h
@@ -18,9 +18,6 @@
 #  define glmm_store(p, a)  _mm_store_ps(p, a)
 #endif

-#define glmm_set1(x) _mm_set1_ps(x)
-#define glmm_128     __m128
-
 #ifdef CGLM_USE_INT_DOMAIN
 #  define glmm_shuff1(xmm, z, y, x, w)                                        \
     _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(xmm),                \
@@ -30,16 +27,7 @@
       _mm_shuffle_ps(xmm, xmm, _MM_SHUFFLE(z, y, x, w))
 #endif

-#define glmm_splat(x, lane) glmm_shuff1(x, lane, lane, lane, lane)
-
-#define glmm_splat_x(x) glmm_splat(x, 0)
-#define glmm_splat_y(x) glmm_splat(x, 1)
-#define glmm_splat_z(x) glmm_splat(x, 2)
-#define glmm_splat_w(x) glmm_splat(x, 3)
-
-/* glmm_shuff1x() is DEPRECATED!, use glmm_splat() */
 #define glmm_shuff1x(xmm, x) glmm_shuff1(xmm, x, x, x, x)
-
 #define glmm_shuff2(a, b, z0, y0, x0, w0, z1, y1, x1, w1)                     \
     glmm_shuff1(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)),           \
                 z1, y1, x1, w1)
@@ -60,15 +48,6 @@ glmm_abs(__m128 x) {
  return _mm_andnot_ps(_mm_set1_ps(-0.0f), x);
 }

-static inline
-__m128
-glmm_vhadd(__m128 v) {
-  __m128 x0;
-  x0 = _mm_add_ps(v,  glmm_shuff1(v, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
-  return x0;
-}
-
 static inline
 __m128
 glmm_vhadds(__m128 v) {
@@ -101,7 +80,7 @@ glmm_vhmin(__m128 v) {
  __m128 x0, x1, x2;
  x0 = _mm_movehl_ps(v, v);     /* [2, 3, 2, 3] */
  x1 = _mm_min_ps(x0, v);       /* [0|2, 1|3, 2|2, 3|3] */
-  x2 = glmm_splat(x1, 1);       /* [1|3, 1|3, 1|3, 1|3] */
+  x2 = glmm_shuff1x(x1, 1);     /* [1|3, 1|3, 1|3, 1|3] */
  return _mm_min_ss(x1, x2);
 }

@@ -117,7 +96,7 @@ glmm_vhmax(__m128 v) {
  __m128 x0, x1, x2;
  x0 = _mm_movehl_ps(v, v);     /* [2, 3, 2, 3] */
  x1 = _mm_max_ps(x0, v);       /* [0|2, 1|3, 2|2, 3|3] */
-  x2 = glmm_splat(x1, 1);       /* [1|3, 1|3, 1|3, 1|3] */
+  x2 = glmm_shuff1x(x1, 1);     /* [1|3, 1|3, 1|3, 1|3] */
  return _mm_max_ss(x1, x2);
 }

@@ -209,99 +188,5 @@ glmm_store3(float v[3], __m128 vx) {
  _mm_store_ss(&v[2], glmm_shuff1(vx, 2, 2, 2, 2));
 }

-static inline
-__m128
-glmm_div(__m128 a, __m128 b) {
-  return _mm_div_ps(a, b);
-}
-
-/* enable FMA macro for MSVC? */
-#if defined(_MSC_VER) && !defined(__FMA__) && defined(__AVX2__)
-#  define __FMA__ 1
-#endif
-
-static inline
-__m128
-glmm_fmadd(__m128 a, __m128 b, __m128 c) {
-#ifdef __FMA__
-  return _mm_fmadd_ps(a, b, c);
-#else
-  return _mm_add_ps(c, _mm_mul_ps(a, b));
-#endif
-}
-
-static inline
-__m128
-glmm_fnmadd(__m128 a, __m128 b, __m128 c) {
-#ifdef __FMA__
-  return _mm_fnmadd_ps(a, b, c);
-#else
-  return _mm_sub_ps(c, _mm_mul_ps(a, b));
-#endif
-}
-
-static inline
-__m128
-glmm_fmsub(__m128 a, __m128 b, __m128 c) {
-#ifdef __FMA__
-  return _mm_fmsub_ps(a, b, c);
-#else
-  return _mm_sub_ps(_mm_mul_ps(a, b), c);
-#endif
-}
-
-static inline
-__m128
-glmm_fnmsub(__m128 a, __m128 b, __m128 c) {
-#ifdef __FMA__
-  return _mm_fnmsub_ps(a, b, c);
-#else
-  return _mm_xor_ps(_mm_add_ps(_mm_mul_ps(a, b), c), _mm_set1_ps(-0.0f));
-#endif
-}
-
-#if defined(__AVX__)
-static inline
-__m256
-glmm256_fmadd(__m256 a, __m256 b, __m256 c) {
-#ifdef __FMA__
-  return _mm256_fmadd_ps(a, b, c);
-#else
-  return _mm256_add_ps(c, _mm256_mul_ps(a, b));
-#endif
-}
-
-static inline
-__m256
-glmm256_fnmadd(__m256 a, __m256 b, __m256 c) {
-#ifdef __FMA__
-  return _mm256_fnmadd_ps(a, b, c);
-#else
-  return _mm256_sub_ps(c, _mm256_mul_ps(a, b));
-#endif
-}
-
-static inline
-__m256
-glmm256_fmsub(__m256 a, __m256 b, __m256 c) {
-#ifdef __FMA__
-  return _mm256_fmsub_ps(a, b, c);
-#else
-  return _mm256_sub_ps(_mm256_mul_ps(a, b), c);
-#endif
-}
-
-static inline
-__m256
-glmm256_fnmsub(__m256 a, __m256 b, __m256 c) {
-#ifdef __FMA__
-  return _mm256_fmsub_ps(a, b, c);
-#else
-  return _mm256_xor_ps(_mm256_sub_ps(_mm256_mul_ps(a, b), c),
-                       _mm256_set1_ps(-0.0f));
-#endif
-}
-#endif
-
 #endif
 #endif /* cglm_simd_x86_h */
--- a/include/cglm/vec3-ext.h
+++ b/include/cglm/vec3-ext.h
@@ -237,9 +237,9 @@ glm_vec3_abs(vec3 v, vec3 dest) {
 CGLM_INLINE
 void
 glm_vec3_fract(vec3 v, vec3 dest) {
-  dest[0] = fminf(v[0] - floorf(v[0]), 0.999999940395355224609375f);
-  dest[1] = fminf(v[1] - floorf(v[1]), 0.999999940395355224609375f);
-  dest[2] = fminf(v[2] - floorf(v[2]), 0.999999940395355224609375f);
+  dest[0] = fminf(v[0] - floorf(v[0]), 0x1.fffffep-1f);
+  dest[1] = fminf(v[1] - floorf(v[1]), 0x1.fffffep-1f);
+  dest[2] = fminf(v[2] - floorf(v[2]), 0x1.fffffep-1f);
 }

 /*!
--- a/include/cglm/vec4-ext.h
+++ b/include/cglm/vec4-ext.h
@@ -224,10 +224,10 @@ glm_vec4_sign(vec4 v, vec4 dest) {

  x0 = glmm_load(v);
  x1 = _mm_set_ps(0.0f, 0.0f, 1.0f, -1.0f);
-  x2 = glmm_splat(x1, 2);
+  x2 = glmm_shuff1x(x1, 2);

-  x3 = _mm_and_ps(_mm_cmpgt_ps(x0, x2), glmm_splat(x1, 1));
-  x4 = _mm_and_ps(_mm_cmplt_ps(x0, x2), glmm_splat(x1, 0));
+  x3 = _mm_and_ps(_mm_cmpgt_ps(x0, x2), glmm_shuff1x(x1, 1));
+  x4 = _mm_and_ps(_mm_cmplt_ps(x0, x2), glmm_shuff1x(x1, 0));

  glmm_store(dest, _mm_or_ps(x3, x4));
 #else
@@ -268,10 +268,10 @@ glm_vec4_abs(vec4 v, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_fract(vec4 v, vec4 dest) {
-  dest[0] = fminf(v[0] - floorf(v[0]), 0.999999940395355224609375f);
-  dest[1] = fminf(v[1] - floorf(v[1]), 0.999999940395355224609375f);
-  dest[2] = fminf(v[2] - floorf(v[2]), 0.999999940395355224609375f);
-  dest[3] = fminf(v[3] - floorf(v[3]), 0.999999940395355224609375f);
+  dest[0] = fminf(v[0] - floorf(v[0]), 0x1.fffffep-1f);
+  dest[1] = fminf(v[1] - floorf(v[1]), 0x1.fffffep-1f);
+  dest[2] = fminf(v[2] - floorf(v[2]), 0x1.fffffep-1f);
+  dest[3] = fminf(v[3] - floorf(v[3]), 0x1.fffffep-1f);
 }

 /*!
--- a/include/cglm/vec4.h
+++ b/include/cglm/vec4.h
@@ -473,8 +473,8 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
-#if defined(CGLM_SIMD)
-  glmm_store(dest, glmm_div(glmm_load(a), glmm_load(b)));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_div_ps(glmm_load(a), glmm_load(b)));
 #else
  dest[0] = a[0] / b[0];
  dest[1] = a[1] / b[1];
@@ -568,8 +568,14 @@ glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
-#if defined(CGLM_SIMD)
-  glmm_store(dest, glmm_fmadd(glmm_load(a), glmm_load(b), glmm_load(dest)));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_mul_ps(glmm_load(a),
+                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vmulq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
 #else
  dest[0] += a[0] * b[0];
  dest[1] += a[1] * b[1];
@@ -590,8 +596,14 @@ glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_muladds(vec4 a, float s, vec4 dest) {
-#if defined(CGLM_SIMD)
-  glmm_store(dest, glmm_fmadd(glmm_load(a), glmm_set1(s), glmm_load(dest)));
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_mul_ps(glmm_load(a),
+                                         _mm_set1_ps(s))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vmulq_f32(vld1q_f32(a),
+                                      vdupq_n_f32(s))));
 #else
  dest[0] += a[0] * s;
  dest[1] += a[1] * s;
--- a/include/cglm/version.h
+++ b/include/cglm/version.h
@@ -10,6 +10,6 @@

 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 8
-#define CGLM_VERSION_PATCH 2
+#define CGLM_VERSION_PATCH 0

 #endif /* cglm_version_h */
--- a/meson.build
+++ b/meson.build
@@ -1,5 +1,5 @@
 project('cglm', 'c',
-    version : '0.8.2', 
+    version : '0.8.0', 
    license : 'mit',
    default_options : [
        'c_std=c11',
--- a/test/src/test_cam.c
+++ b/test/src/test_cam.c
@@ -35,9 +35,9 @@ TEST_IMPL(camera_decomp) {
  farVal  = 100.0f;

  glm_perspective(fovy, aspect, nearVal, farVal, proj);
-  ASSERT(fabsf(aspect  - glm_persp_aspect(proj)) < GLM_FLT_EPSILON)
-  ASSERT(fabsf(fovy    - glm_persp_fovy(proj))   < GLM_FLT_EPSILON)
-  ASSERT(fabsf(49.984f - glm_deg(glm_persp_fovy(proj))) < GLM_FLT_EPSILON)
+  ASSERT(fabsf(aspect  - glm_persp_aspect(proj)) < 1e-5f)
+  ASSERT(fabsf(fovy    - glm_persp_fovy(proj))   < 1e-5f)
+  ASSERT(fabsf(49.984f - glm_deg(glm_persp_fovy(proj))) < 1e-5f)

  glm_persp_sizes(proj, fovy, sizes);

--- a/test/src/test_common.h
+++ b/test/src/test_common.h
@@ -106,7 +106,7 @@ test_rand_quat(versor q);
 CGLM_INLINE
 bool
 test_eq(float a, float b) {
-  return fabsf(a - b) <= GLM_FLT_EPSILON * 10;
+  return fabsf(a - b) <= 1e-5f;
 }

 CGLM_INLINE
Author	SHA1	Message	Date
Recep Aslantas	6626d2b74f	Update affine.h	2020-11-22 01:25:34 +03:00
Recep Aslantas	5bda762df6	use epsilon to compare results in glm_uniscaled()	2020-11-22 01:14:18 +03:00
Recep Aslantas	f9824a8dc6	test: use custom epsilon to compare	2020-11-22 00:59:48 +03:00
Recep Aslantas	ccd3058adc	remove CGLM_USE_DEFAULT_EPSILON * to override float epsilon we just need to define GLM_FLT_EPSILON * CGLM_USE_DEFAULT_EPSILON was redundant, also it forces to override system default epsilon which may not be good idea, because not all systems may support smaller epsilon values	2020-11-22 00:38:57 +03:00