57 lines
1.3 KiB
C
57 lines
1.3 KiB
C
/*
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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_quat_neon_h
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#define cglm_quat_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_quat_mul_neon(versor p, versor q, versor dest) {
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/*
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+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
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+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
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+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
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a1 a2 − b1 b2 − c1 c2 − d1 d2
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*/
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glmm_128 xp, xq, xqr, r, x, y, z, s2, s3;
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glmm_128 s1 = {-0.f, 0.f, 0.f, -0.f};
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float32x2_t qh, ql;
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xp = glmm_load(p); /* 3 2 1 0 */
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xq = glmm_load(q);
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r = vmulq_f32(glmm_splat_w(xp), xq);
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x = glmm_splat_x(xp);
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y = glmm_splat_y(xp);
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z = glmm_splat_z(xp);
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ql = vget_high_f32(s1);
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s3 = vcombine_f32(ql, ql);
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s2 = vzipq_f32(s3, s3).val[0];
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xqr = vrev64q_f32(xq);
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qh = vget_high_f32(xqr);
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ql = vget_low_f32(xqr);
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r = glmm_fmadd(glmm_xor(x, s3), vcombine_f32(qh, ql), r);
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r = glmm_fmadd(glmm_xor(y, s2), vcombine_f32(vget_high_f32(xq),
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vget_low_f32(xq)), r);
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r = glmm_fmadd(glmm_xor(z, s1), vcombine_f32(ql, qh), r);
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glmm_store(dest, r);
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}
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#endif
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#endif /* cglm_quat_neon_h */
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