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orbit-plus/include/cglm/simd/sse2/mat4.h
dox d723f08969 first commit
2023-02-11 23:18:45 -05:00

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat_sse_h
#define cglm_mat_sse_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
#define glm_mat4_inv_precise_sse2(mat, dest) glm_mat4_inv_sse2(mat, dest)
CGLM_INLINE
void
glm_mat4_scale_sse2(mat4 m, float s) {
__m128 x0;
x0 = _mm_set1_ps(s);
glmm_store(m[0], _mm_mul_ps(glmm_load(m[0]), x0));
glmm_store(m[1], _mm_mul_ps(glmm_load(m[1]), x0));
glmm_store(m[2], _mm_mul_ps(glmm_load(m[2]), x0));
glmm_store(m[3], _mm_mul_ps(glmm_load(m[3]), x0));
}
CGLM_INLINE
void
glm_mat4_transp_sse2(mat4 m, mat4 dest) {
__m128 r0, r1, r2, r3;
r0 = glmm_load(m[0]);
r1 = glmm_load(m[1]);
r2 = glmm_load(m[2]);
r3 = glmm_load(m[3]);
_MM_TRANSPOSE4_PS(r0, r1, r2, r3);
glmm_store(dest[0], r0);
glmm_store(dest[1], r1);
glmm_store(dest[2], r2);
glmm_store(dest[3], r3);
}
CGLM_INLINE
void
glm_mat4_mul_sse2(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 = _mm_mul_ps(glmm_splat_x(r0), l);
v1 = _mm_mul_ps(glmm_splat_x(r1), l);
v2 = _mm_mul_ps(glmm_splat_x(r2), l);
v3 = _mm_mul_ps(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_sse2(mat4 m, vec4 v, vec4 dest) {
__m128 x0, x1, m0, m1, m2, m3, v0, v1, v2, v3;
m0 = glmm_load(m[0]);
m1 = glmm_load(m[1]);
m2 = glmm_load(m[2]);
m3 = glmm_load(m[3]);
x0 = glmm_load(v);
v0 = glmm_splat_x(x0);
v1 = glmm_splat_y(x0);
v2 = glmm_splat_z(x0);
v3 = glmm_splat_w(x0);
x1 = _mm_mul_ps(m3, v3);
x1 = glmm_fmadd(m2, v2, x1);
x1 = glmm_fmadd(m1, v1, x1);
x1 = glmm_fmadd(m0, v0, x1);
glmm_store(dest, x1);
}
CGLM_INLINE
float
glm_mat4_det_sse2(mat4 mat) {
__m128 r0, r1, r2, r3, x0, x1, x2;
/* 127 <- 0, [square] det(A) = det(At) */
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 */
/*
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(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)));
/*
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)));
/*
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(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_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
return glmm_hadd(_mm_mul_ps(x2, r0));
}
CGLM_INLINE
void
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);
/* 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 */
x0 = _mm_movehl_ps(r3, r2); /* p o l k */
x3 = _mm_movelh_ps(r2, r3); /* n m j i */
x1 = glmm_shuff1(x0, 1, 3, 3 ,3); /* l p p p */
x2 = glmm_shuff1(x0, 0, 2, 2, 2); /* k o o o */
x4 = glmm_shuff1(x3, 1, 3, 3, 3); /* j n n n */
x7 = glmm_shuff1(x3, 0, 2, 2, 2); /* i m m m */
x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2)); /* g g k k */
x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3)); /* h h l l */
t0 = _mm_mul_ps(x3, x1);
t1 = _mm_mul_ps(x5, x1);
t2 = _mm_mul_ps(x5, x2);
t3 = _mm_mul_ps(x6, x1);
t4 = _mm_mul_ps(x6, x2);
t5 = _mm_mul_ps(x6, x4);
/* 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, t0);
/* 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, t1);
/* 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, t2);
/* 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, t3);
/* 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, t4);
/* 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, t5);
x4 = _mm_movelh_ps(r0, r1); /* f e b a */
x5 = _mm_movehl_ps(r1, r0); /* h g d c */
x0 = glmm_shuff1(x4, 0, 0, 0, 2); /* a a a e */
x1 = glmm_shuff1(x4, 1, 1, 1, 3); /* b b b f */
x2 = glmm_shuff1(x5, 0, 0, 0, 2); /* c c c g */
x3 = glmm_shuff1(x5, 1, 1, 1, 3); /* d d d h */
v2 = _mm_mul_ps(x0, t1);
v1 = _mm_mul_ps(x0, t0);
v3 = _mm_mul_ps(x0, t2);
v0 = _mm_mul_ps(x1, t0);
v2 = glmm_fnmadd(x1, t3, v2);
v3 = glmm_fnmadd(x1, t4, v3);
v0 = glmm_fnmadd(x2, t1, v0);
v1 = glmm_fnmadd(x2, t3, v1);
v3 = glmm_fmadd(x2, t5, v3);
v0 = glmm_fmadd(x3, t2, v0);
v2 = glmm_fmadd(x3, t5, v2);
v1 = glmm_fmadd(x3, t4, v1);
/*
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 = _mm_xor_ps(v0, 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(v2, 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 = _mm_xor_ps(v1, 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 = _mm_xor_ps(v3, x9);
/* 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)));
glmm_store(dest[0], _mm_mul_ps(v0, x0));
glmm_store(dest[1], _mm_mul_ps(v1, x0));
glmm_store(dest[2], _mm_mul_ps(v2, x0));
glmm_store(dest[3], _mm_mul_ps(v3, x0));
}
CGLM_INLINE
void
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);
/* 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 */
x0 = _mm_movehl_ps(r3, r2); /* p o l k */
x3 = _mm_movelh_ps(r2, r3); /* n m j i */
x1 = glmm_shuff1(x0, 1, 3, 3 ,3); /* l p p p */
x2 = glmm_shuff1(x0, 0, 2, 2, 2); /* k o o o */
x4 = glmm_shuff1(x3, 1, 3, 3, 3); /* j n n n */
x7 = glmm_shuff1(x3, 0, 2, 2, 2); /* i m m m */
x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2)); /* g g k k */
x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3)); /* h h l l */
t0 = _mm_mul_ps(x3, x1);
t1 = _mm_mul_ps(x5, x1);
t2 = _mm_mul_ps(x5, x2);
t3 = _mm_mul_ps(x6, x1);
t4 = _mm_mul_ps(x6, x2);
t5 = _mm_mul_ps(x6, x4);
/* 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, t0);
/* 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, t1);
/* 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, t2);
/* 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, t3);
/* 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, t4);
/* 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, t5);
x4 = _mm_movelh_ps(r0, r1); /* f e b a */
x5 = _mm_movehl_ps(r1, r0); /* h g d c */
x0 = glmm_shuff1(x4, 0, 0, 0, 2); /* a a a e */
x1 = glmm_shuff1(x4, 1, 1, 1, 3); /* b b b f */
x2 = glmm_shuff1(x5, 0, 0, 0, 2); /* c c c g */
x3 = glmm_shuff1(x5, 1, 1, 1, 3); /* d d d h */
v2 = _mm_mul_ps(x0, t1);
v1 = _mm_mul_ps(x0, t0);
v3 = _mm_mul_ps(x0, t2);
v0 = _mm_mul_ps(x1, t0);
v2 = glmm_fnmadd(x1, t3, v2);
v3 = glmm_fnmadd(x1, t4, v3);
v0 = glmm_fnmadd(x2, t1, v0);
v1 = glmm_fnmadd(x2, t3, v1);
v3 = glmm_fmadd(x2, t5, v3);
v0 = glmm_fmadd(x3, t2, v0);
v2 = glmm_fmadd(x3, t5, v2);
v1 = glmm_fmadd(x3, t4, v1);
/*
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 = _mm_xor_ps(v0, 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(v2, 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 = _mm_xor_ps(v1, 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 = _mm_xor_ps(v3, x9);
/* 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)));
glmm_store(dest[0], _mm_mul_ps(v0, x0));
glmm_store(dest[1], _mm_mul_ps(v1, x0));
glmm_store(dest[2], _mm_mul_ps(v2, x0));
glmm_store(dest[3], _mm_mul_ps(v3, x0));
}
#endif
#endif /* cglm_mat_sse_h */
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