55 lines
1.2 KiB
C
55 lines
1.2 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_simd_h
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#define cglm_quat_simd_h
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#if defined( __SSE__ ) || defined( __SSE2__ )
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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_sse2(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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__m128 xp, xq, x1, x2, x3, r, x, y, z;
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xp = glmm_load(p); /* 3 2 1 0 */
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xq = glmm_load(q);
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x1 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); /* TODO: _mm_set1_ss() + shuff ? */
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r = _mm_mul_ps(glmm_splat_w(xp), xq);
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x2 = _mm_unpackhi_ps(x1, x1);
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x3 = glmm_shuff1(x1, 3, 2, 0, 1);
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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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x = _mm_xor_ps(x, x1);
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y = _mm_xor_ps(y, x2);
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z = _mm_xor_ps(z, x3);
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x1 = glmm_shuff1(xq, 0, 1, 2, 3);
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x2 = glmm_shuff1(xq, 1, 0, 3, 2);
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x3 = glmm_shuff1(xq, 2, 3, 0, 1);
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r = glmm_fmadd(x, x1, r);
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r = glmm_fmadd(y, x2, r);
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r = glmm_fmadd(z, x3, 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_simd_h */
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