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121
include/cglm/simd/neon/affine.h
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121
include/cglm/simd/neon/affine.h
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/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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#ifndef cglm_affine_neon_h
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#define cglm_affine_neon_h
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#if defined(__ARM_NEON_FP)
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#include "../../common.h"
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#include "../intrin.h"
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CGLM_INLINE
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void
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glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
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/* D = R * L (Column-Major) */
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glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
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l = glmm_load(m1[0]);
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r0 = glmm_load(m2[0]);
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r1 = glmm_load(m2[1]);
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r2 = glmm_load(m2[2]);
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r3 = glmm_load(m2[3]);
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v0 = vmulq_f32(glmm_splat_x(r0), l);
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v1 = vmulq_f32(glmm_splat_x(r1), l);
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v2 = vmulq_f32(glmm_splat_x(r2), l);
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v3 = vmulq_f32(glmm_splat_x(r3), l);
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l = glmm_load(m1[1]);
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v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
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v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
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l = glmm_load(m1[2]);
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v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
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v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
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v3 = glmm_fmadd(glmm_splat_w(r3), glmm_load(m1[3]), v3);
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glmm_store(dest[0], v0);
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glmm_store(dest[1], v1);
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glmm_store(dest[2], v2);
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glmm_store(dest[3], v3);
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}
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CGLM_INLINE
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void
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glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
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/* D = R * L (Column-Major) */
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glmm_128 l, r0, r1, r2, v0, v1, v2;
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l = glmm_load(m1[0]);
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r0 = glmm_load(m2[0]);
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r1 = glmm_load(m2[1]);
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r2 = glmm_load(m2[2]);
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v0 = vmulq_f32(glmm_splat_x(r0), l);
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v1 = vmulq_f32(glmm_splat_x(r1), l);
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v2 = vmulq_f32(glmm_splat_x(r2), l);
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l = glmm_load(m1[1]);
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v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
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l = glmm_load(m1[2]);
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v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
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glmm_store(dest[0], v0);
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glmm_store(dest[1], v1);
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glmm_store(dest[2], v2);
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glmm_store(dest[3], glmm_load(m1[3]));
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}
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CGLM_INLINE
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void
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glm_inv_tr_neon(mat4 mat) {
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float32x4x4_t vmat;
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glmm_128 r0, r1, r2, x0;
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vmat = vld4q_f32(mat[0]);
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r0 = vmat.val[0];
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r1 = vmat.val[1];
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r2 = vmat.val[2];
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x0 = glmm_fmadd(r0, glmm_splat_w(r0),
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glmm_fmadd(r1, glmm_splat_w(r1),
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vmulq_f32(r2, glmm_splat_w(r2))));
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x0 = vnegq_f32(x0);
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glmm_store(mat[0], r0);
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glmm_store(mat[1], r1);
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glmm_store(mat[2], r2);
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glmm_store(mat[3], x0);
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mat[0][3] = 0.0f;
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mat[1][3] = 0.0f;
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mat[2][3] = 0.0f;
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mat[3][3] = 1.0f;
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/* TODO: ?
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zo = vget_high_f32(r3);
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vst1_lane_f32(&mat[0][3], zo, 0);
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vst1_lane_f32(&mat[1][3], zo, 0);
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vst1_lane_f32(&mat[2][3], zo, 0);
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vst1_lane_f32(&mat[3][3], zo, 1);
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*/
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}
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#endif
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#endif /* cglm_affine_neon_h */
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44
include/cglm/simd/neon/mat2.h
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44
include/cglm/simd/neon/mat2.h
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@ -0,0 +1,44 @@
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/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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#ifndef cglm_mat2_neon_h
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#define cglm_mat2_neon_h
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#if defined(__ARM_NEON_FP)
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#include "../../common.h"
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#include "../intrin.h"
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CGLM_INLINE
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void
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glm_mat2_mul_neon(mat2 m1, mat2 m2, mat2 dest) {
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float32x4x2_t a1;
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glmm_128 x0, x1, x2;
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float32x2_t dc, ba;
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x1 = glmm_load(m1[0]); /* d c b a */
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x2 = glmm_load(m2[0]); /* h g f e */
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dc = vget_high_f32(x1);
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ba = vget_low_f32(x1);
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/* g g e e, h h f f */
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a1 = vtrnq_f32(x2, x2);
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/*
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dest[0][0] = a * e + c * f;
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dest[0][1] = b * e + d * f;
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dest[1][0] = a * g + c * h;
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dest[1][1] = b * g + d * h;
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*/
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x0 = glmm_fmadd(vcombine_f32(ba, ba), a1.val[0],
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vmulq_f32(vcombine_f32(dc, dc), a1.val[1]));
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glmm_store(dest[0], x0);
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}
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#endif
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#endif /* cglm_mat2_neon_h */
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317
include/cglm/simd/neon/mat4.h
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317
include/cglm/simd/neon/mat4.h
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@ -0,0 +1,317 @@
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/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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#ifndef cglm_mat4_neon_h
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#define cglm_mat4_neon_h
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#if defined(__ARM_NEON_FP)
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#include "../../common.h"
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#include "../intrin.h"
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CGLM_INLINE
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void
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glm_mat4_scale_neon(mat4 m, float s) {
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float32x4_t v0;
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v0 = vdupq_n_f32(s);
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vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
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vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
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vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
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vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
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}
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CGLM_INLINE
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void
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glm_mat4_transp_neon(mat4 m, mat4 dest) {
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float32x4x4_t vmat;
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vmat = vld4q_f32(m[0]);
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vst1q_f32(dest[0], vmat.val[0]);
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vst1q_f32(dest[1], vmat.val[1]);
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vst1q_f32(dest[2], vmat.val[2]);
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vst1q_f32(dest[3], vmat.val[3]);
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}
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CGLM_INLINE
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void
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glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
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/* D = R * L (Column-Major) */
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glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
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l = glmm_load(m1[0]);
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r0 = glmm_load(m2[0]);
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r1 = glmm_load(m2[1]);
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r2 = glmm_load(m2[2]);
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r3 = glmm_load(m2[3]);
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v0 = vmulq_f32(glmm_splat_x(r0), l);
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v1 = vmulq_f32(glmm_splat_x(r1), l);
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v2 = vmulq_f32(glmm_splat_x(r2), l);
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v3 = vmulq_f32(glmm_splat_x(r3), l);
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l = glmm_load(m1[1]);
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v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
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v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
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l = glmm_load(m1[2]);
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v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
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v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
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l = glmm_load(m1[3]);
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v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
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v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
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v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
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v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
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glmm_store(dest[0], v0);
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glmm_store(dest[1], v1);
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glmm_store(dest[2], v2);
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glmm_store(dest[3], v3);
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}
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CGLM_INLINE
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void
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glm_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
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float32x4_t l0, l1, l2, l3;
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float32x2_t vlo, vhi;
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l0 = vld1q_f32(m[0]);
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l1 = vld1q_f32(m[1]);
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l2 = vld1q_f32(m[2]);
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l3 = vld1q_f32(m[3]);
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vlo = vld1_f32(&v[0]);
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vhi = vld1_f32(&v[2]);
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l0 = vmulq_lane_f32(l0, vlo, 0);
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l0 = vmlaq_lane_f32(l0, l1, vlo, 1);
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l0 = vmlaq_lane_f32(l0, l2, vhi, 0);
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l0 = vmlaq_lane_f32(l0, l3, vhi, 1);
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vst1q_f32(dest, l0);
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}
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CGLM_INLINE
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float
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glm_mat4_det_neon(mat4 mat) {
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float32x4_t r0, r1, r2, r3, x0, x1, x2;
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float32x2_t ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
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float32x4x2_t a1;
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float32x4_t x3 = { 0.f, -0.f, 0.f, -0.f };
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/* 127 <- 0, [square] det(A) = det(At) */
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r0 = glmm_load(mat[0]); /* d c b a */
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r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
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r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
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r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
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gh = vget_high_f32(r1);
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ef = vget_low_f32(r1);
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kl = vget_high_f32(r2);
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ij = vget_low_f32(r2);
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op = vget_high_f32(r3);
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mn = vget_low_f32(r3);
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mm = vdup_lane_f32(mn, 1);
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nn = vdup_lane_f32(mn, 0);
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ii = vdup_lane_f32(ij, 1);
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jj = vdup_lane_f32(ij, 0);
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/*
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t[1] = j * p - n * l;
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t[2] = j * o - n * k;
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t[3] = i * p - m * l;
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t[4] = i * o - m * k;
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*/
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x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
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vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
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t12 = vget_low_f32(x0);
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t34 = vget_high_f32(x0);
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/* 1 3 1 3 2 4 2 4 */
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a1 = vuzpq_f32(x0, x0);
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/*
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t[0] = k * p - o * l;
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t[0] = k * p - o * l;
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t[5] = i * n - m * j;
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t[5] = i * n - m * j;
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*/
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x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
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vcombine_f32(vdup_lane_f32(op, 1), mm),
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vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
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vcombine_f32(vdup_lane_f32(kl, 1), ii)));
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/*
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a * (f * t[0] - g * t[1] + h * t[2])
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- b * (e * t[0] - g * t[3] + h * t[4])
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+ c * (e * t[1] - f * t[3] + h * t[5])
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- d * (e * t[2] - f * t[4] + g * t[5])
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*/
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x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
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vcombine_f32(vget_low_f32(a1.val[0]), t34),
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vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
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vcombine_f32(vget_low_f32(x1), t12)));
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x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
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vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
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x2 = glmm_xor(x2, x3);
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return glmm_hadd(vmulq_f32(x2, r0));
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}
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CGLM_INLINE
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void
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glm_mat4_inv_neon(mat4 mat, mat4 dest) {
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float32x4_t r0, r1, r2, r3,
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v0, v1, v2, v3,
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t0, t1, t2, t3, t4, t5,
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x0, x1, x2, x3, x4, x5, x6, x7, x8;
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float32x4x2_t a1;
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float32x2_t lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
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float32x4_t x9 = { -0.f, 0.f, -0.f, 0.f };
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x8 = vrev64q_f32(x9);
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/* 127 <- 0 */
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r0 = glmm_load(mat[0]); /* d c b a */
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r1 = glmm_load(mat[1]); /* h g f e */
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r2 = glmm_load(mat[2]); /* l k j i */
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r3 = glmm_load(mat[3]); /* p o n m */
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/* l p k o, j n i m */
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a1 = vzipq_f32(r3, r2);
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jn = vget_high_f32(a1.val[0]);
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im = vget_low_f32(a1.val[0]);
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lp = vget_high_f32(a1.val[1]);
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ko = vget_low_f32(a1.val[1]);
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hg = vget_high_f32(r1);
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x1 = vcombine_f32(vdup_lane_f32(lp, 0), lp); /* l p p p */
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x2 = vcombine_f32(vdup_lane_f32(ko, 0), ko); /* k o o o */
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x0 = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
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x3 = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
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/* t1[0] = k * p - o * l;
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t1[0] = k * p - o * l;
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t2[0] = g * p - o * h;
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t3[0] = g * l - k * h; */
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t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
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|
||||
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 */
|
||||
56
include/cglm/simd/neon/quat.h
Normal file
56
include/cglm/simd/neon/quat.h
Normal file
@ -0,0 +1,56 @@
|
||||
/*
|
||||
* Copyright (c), Recep Aslantas.
|
||||
*
|
||||
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||||
* Full license can be found in the LICENSE file
|
||||
*/
|
||||
|
||||
#ifndef cglm_quat_neon_h
|
||||
#define cglm_quat_neon_h
|
||||
#if defined(__ARM_NEON_FP)
|
||||
|
||||
#include "../../common.h"
|
||||
#include "../intrin.h"
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_quat_mul_neon(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
|
||||
*/
|
||||
|
||||
glmm_128 xp, xq, xqr, r, x, y, z, s2, s3;
|
||||
glmm_128 s1 = {-0.f, 0.f, 0.f, -0.f};
|
||||
float32x2_t qh, ql;
|
||||
|
||||
xp = glmm_load(p); /* 3 2 1 0 */
|
||||
xq = glmm_load(q);
|
||||
|
||||
r = vmulq_f32(glmm_splat_w(xp), xq);
|
||||
x = glmm_splat_x(xp);
|
||||
y = glmm_splat_y(xp);
|
||||
z = glmm_splat_z(xp);
|
||||
|
||||
ql = vget_high_f32(s1);
|
||||
s3 = vcombine_f32(ql, ql);
|
||||
s2 = vzipq_f32(s3, s3).val[0];
|
||||
|
||||
xqr = vrev64q_f32(xq);
|
||||
qh = vget_high_f32(xqr);
|
||||
ql = vget_low_f32(xqr);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(x, s3), vcombine_f32(qh, ql), r);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(y, s2), vcombine_f32(vget_high_f32(xq),
|
||||
vget_low_f32(xq)), r);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(z, s1), vcombine_f32(ql, qh), r);
|
||||
|
||||
glmm_store(dest, r);
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* cglm_quat_neon_h */
|
||||
Reference in New Issue
Block a user