20 #include "../util/c99defs.h" 23 #include <xmmintrin.h> 43 struct {
float x,
y,
z,
w;};
49 static inline void quat_identity(
struct quat *q)
51 q->
m = _mm_setzero_ps();
55 static inline void quat_set(
struct quat *dst,
float x,
float y,
float z,
58 dst->
m = _mm_set_ps(x, y, z, w);
61 static inline void quat_copy(
struct quat *dst,
const struct quat *q)
66 static inline void quat_add(
struct quat *dst,
const struct quat *q1,
67 const struct quat *q2)
69 dst->
m = _mm_add_ps(q1->
m, q2->
m);
72 static inline void quat_sub(
struct quat *dst,
const struct quat *q1,
73 const struct quat *q2)
75 dst->
m = _mm_sub_ps(q1->
m, q2->
m);
79 const struct quat *q2);
81 static inline void quat_addf(
struct quat *dst,
const struct quat *q,
84 dst->
m = _mm_add_ps(q->
m, _mm_set1_ps(f));
87 static inline void quat_subf(
struct quat *dst,
const struct quat *q,
90 dst->
m = _mm_sub_ps(q->
m, _mm_set1_ps(f));
93 static inline void quat_mulf(
struct quat *dst,
const struct quat *q,
96 dst->
m = _mm_mul_ps(q->
m, _mm_set1_ps(f));
99 static inline void quat_divf(
struct quat *dst,
const struct quat *q,
102 dst->
m = _mm_div_ps(q->
m, _mm_set1_ps(f));
105 static inline float quat_dot(
const struct quat *q1,
const struct quat *q2)
108 __m128 mul = _mm_mul_ps(q1->
m, q2->
m);
109 add.
m = _mm_add_ps(_mm_movehl_ps(mul, mul), mul);
110 add.
m = _mm_add_ps(_mm_shuffle_ps(add.
m, add.
m, 0x55), add.
m);
114 static inline void quat_inv(
struct quat *dst,
const struct quat *q)
121 static inline void quat_neg(
struct quat *dst,
const struct quat *q)
129 static inline float quat_len(
const struct quat *q)
131 float dot_val = quat_dot(q, q);
132 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
135 static inline float quat_dist(
const struct quat *q1,
const struct quat *q2)
140 quat_sub(&temp, q1, q2);
141 dot_val = quat_dot(&temp, &temp);
142 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
145 static inline void quat_norm(
struct quat *dst,
const struct quat *q)
147 float dot_val = quat_dot(q, q);
148 dst->
m = (dot_val > 0.0f) ?
149 _mm_mul_ps(q->
m, _mm_set1_ps(1.0f/sqrtf(dot_val))) :
153 static inline bool quat_close(
const struct quat *q1,
const struct quat *q2,
157 quat_sub(&test, q1, q2);
158 return test.
x < epsilon &&
175 const struct quat *q2,
float t);
177 const struct quat *q,
const struct quat *next);
179 const struct quat *q2,
const struct quat *m1,
180 const struct quat *m2,
float t);
float ptr[4]
Definition: quat.h:44
EXPORT void quat_interpolate_cubic(struct quat *dst, const struct quat *q1, const struct quat *q2, const struct quat *m1, const struct quat *m2, float t)
EXPORT void quat_set_look_dir(struct quat *dst, const struct vec3 *dir)
EXPORT void quat_get_dir(struct vec3 *dst, const struct quat *q)
EXPORT void quat_mul(struct quat *dst, const struct quat *q1, const struct quat *q2)
EXPORT void quat_exp(struct quat *dst, const struct quat *q)
EXPORT void quat_get_tangent(struct quat *dst, const struct quat *prev, const struct quat *q, const struct quat *next)
#define EXPORT
Definition: c99defs.h:53
float y
Definition: quat.h:43
EXPORT void quat_from_matrix4(struct quat *dst, const struct matrix4 *m)
EXPORT void quat_log(struct quat *dst, const struct quat *q)
float w
Definition: quat.h:43
__m128 m
Definition: vec3.h:39
float x
Definition: quat.h:43
EXPORT void quat_from_matrix3(struct quat *dst, const struct matrix3 *m)
EXPORT void quat_interpolate(struct quat *dst, const struct quat *q1, const struct quat *q2, float t)
float x
Definition: vec3.h:36
float z
Definition: quat.h:43
__m128 m
Definition: quat.h:45
EXPORT void quat_from_axisang(struct quat *dst, const struct axisang *aa)