318 lines
9.1 KiB
C
318 lines
9.1 KiB
C
|
/*
|
||
|
|
* Copyright (c), Recep Aslantas.
|
||
|
|
*
|
||
|
|
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||
|
|
* Full license can be found in the LICENSE file
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef cglm_mat4_neon_h
|
||
|
|
#define cglm_mat4_neon_h
|
||
|
|
#if defined(__ARM_NEON_FP)
|
||
|
|
|
||
|
|
#include "../../common.h"
|
||
|
|
#include "../intrin.h"
|
||
|
|
|
||
|
|
CGLM_INLINE
|
||
|
|
void
|
||
|
|
glm_mat4_scale_neon(mat4 m, float s) {
|
||
|
|
float32x4_t v0;
|
||
|
|
|
||
|
|
v0 = vdupq_n_f32(s);
|
||
|
|
|
||
|
|
vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
|
||
|
|
vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
|
||
|
|
vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
|
||
|
|
vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
|
||
|
|
}
|
||
|
|
|
||
|
|
CGLM_INLINE
|
||
|
|
void
|
||
|
|
glm_mat4_transp_neon(mat4 m, mat4 dest) {
|
||
|
|
float32x4x4_t vmat;
|
||
|
|
|
||
|
|
vmat = vld4q_f32(m[0]);
|
||
|
|
|
||
|
|
vst1q_f32(dest[0], vmat.val[0]);
|
||
|
|
vst1q_f32(dest[1], vmat.val[1]);
|
||
|
|
vst1q_f32(dest[2], vmat.val[2]);
|
||
|
|
vst1q_f32(dest[3], vmat.val[3]);
|
||
|
|
}
|
||
|
|
|
||
|
|
CGLM_INLINE
|
||
|
|
void
|
||
|
|
glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
|
||
|
|
/* D = R * L (Column-Major) */
|
||
|
|
|
||
|
|
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
|
||
|
|
|
||
|
|
l = glmm_load(m1[0]);
|
||
|
|
r0 = glmm_load(m2[0]);
|
||
|
|
r1 = glmm_load(m2[1]);
|
||
|
|
r2 = glmm_load(m2[2]);
|
||
|
|
r3 = glmm_load(m2[3]);
|
||
|
|
|
||
|
|
v0 = vmulq_f32(glmm_splat_x(r0), l);
|
||
|
|
v1 = vmulq_f32(glmm_splat_x(r1), l);
|
||
|
|
v2 = vmulq_f32(glmm_splat_x(r2), l);
|
||
|
|
v3 = vmulq_f32(glmm_splat_x(r3), l);
|
||
|
|
|
||
|
|
l = glmm_load(m1[1]);
|
||
|
|
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
|
||
|
|
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
|
||
|
|
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
|
||
|
|
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
|
||
|
|
|
||
|
|
l = glmm_load(m1[2]);
|
||
|
|
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
|
||
|
|
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
|
||
|
|
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
|
||
|
|
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
|
||
|
|
|
||
|
|
l = glmm_load(m1[3]);
|
||
|
|
v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
|
||
|
|
v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
|
||
|
|
v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
|
||
|
|
v3 = glmm_fmadd(glmm_splat_w(r3), l, 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_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
|
||
|
|
float32x4_t l0, l1, l2, l3;
|
||
|
|
float32x2_t vlo, vhi;
|
||
|
|
|
||
|
|
l0 = vld1q_f32(m[0]);
|
||
|
|
l1 = vld1q_f32(m[1]);
|
||
|
|
l2 = vld1q_f32(m[2]);
|
||
|
|
l3 = vld1q_f32(m[3]);
|
||
|
|
|
||
|
|
vlo = vld1_f32(&v[0]);
|
||
|
|
vhi = vld1_f32(&v[2]);
|
||
|
|
|
||
|
|
l0 = vmulq_lane_f32(l0, vlo, 0);
|
||
|
|
l0 = vmlaq_lane_f32(l0, l1, vlo, 1);
|
||
|
|
l0 = vmlaq_lane_f32(l0, l2, vhi, 0);
|
||
|
|
l0 = vmlaq_lane_f32(l0, l3, vhi, 1);
|
||
|
|
|
||
|
|
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 */
|