69 lines
2.8 KiB
C
69 lines
2.8 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PSFOUNDATION_PSVECMATHSSE_H
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#define PSFOUNDATION_PSVECMATHSSE_H
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namespace physx
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{
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namespace shdfnd
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{
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namespace aos
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{
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namespace
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{
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const PX_ALIGN(16, PxF32) minus1w[4] = { 0.0f, 0.0f, 0.0f, -1.0f };
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}
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PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
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{
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const __m128 q2 = V4Add(q, q);
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const __m128 qw2 = V4MulAdd(q2, V4GetW(q), _mm_load_ps(minus1w)); // (2wx, 2wy, 2wz, 2ww-1)
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const __m128 nw2 = Vec3V_From_Vec4V(V4Neg(qw2)); // (-2wx, -2wy, -2wz, 0)
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const __m128 v = Vec3V_From_Vec4V(q);
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const __m128 a0 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 1, 2, 3)); // (2ww-1, 2wz, -2wy, 0)
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column0 = V4MulAdd(v, V4GetX(q2), a0);
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const __m128 a1 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 2, 0, 3)); // (2ww-1, 2wx, -2wz, 0)
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column1 = V4MulAdd(v, V4GetY(q2), _mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 1, 0, 2)));
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const __m128 a2 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 0, 1, 3)); // (2ww-1, 2wy, -2wx, 0)
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column2 = V4MulAdd(v, V4GetZ(q2), _mm_shuffle_ps(a2, a2, _MM_SHUFFLE(3, 0, 2, 1)));
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}
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} // namespace aos
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} // namespace shdfnd
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} // namespace physx
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#endif // PSFOUNDATION_PSVECMATHSSE_H
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