Projekt_Grafika/dependencies/physx-4.1/source/foundation/include/PsVecMathSSE.h

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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
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// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
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// from this software without specific prior written permission.
//
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PSFOUNDATION_PSVECMATHSSE_H
#define PSFOUNDATION_PSVECMATHSSE_H
namespace physx
{
namespace shdfnd
{
namespace aos
{
namespace
{
const PX_ALIGN(16, PxF32) minus1w[4] = { 0.0f, 0.0f, 0.0f, -1.0f };
}
PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
{
const __m128 q2 = V4Add(q, q);
const __m128 qw2 = V4MulAdd(q2, V4GetW(q), _mm_load_ps(minus1w)); // (2wx, 2wy, 2wz, 2ww-1)
const __m128 nw2 = Vec3V_From_Vec4V(V4Neg(qw2)); // (-2wx, -2wy, -2wz, 0)
const __m128 v = Vec3V_From_Vec4V(q);
const __m128 a0 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 1, 2, 3)); // (2ww-1, 2wz, -2wy, 0)
column0 = V4MulAdd(v, V4GetX(q2), a0);
const __m128 a1 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 2, 0, 3)); // (2ww-1, 2wx, -2wz, 0)
column1 = V4MulAdd(v, V4GetY(q2), _mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 1, 0, 2)));
const __m128 a2 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 0, 1, 3)); // (2ww-1, 2wy, -2wx, 0)
column2 = V4MulAdd(v, V4GetZ(q2), _mm_shuffle_ps(a2, a2, _MM_SHUFFLE(3, 0, 2, 1)));
}
} // namespace aos
} // namespace shdfnd
} // namespace physx
#endif // PSFOUNDATION_PSVECMATHSSE_H