20 #include "../util/c99defs.h" 23 #include <xmmintrin.h> 51 static inline void quat_identity(
struct quat *q)
53 q->
m = _mm_setzero_ps();
57 static inline void quat_set(
struct quat *dst,
float x,
float y,
float z,
60 dst->
m = _mm_set_ps(x, y, z, w);
63 static inline void quat_copy(
struct quat *dst,
const struct quat *q)
68 static inline void quat_add(
struct quat *dst,
const struct quat *q1,
69 const struct quat *q2)
71 dst->
m = _mm_add_ps(q1->
m, q2->
m);
74 static inline void quat_sub(
struct quat *dst,
const struct quat *q1,
75 const struct quat *q2)
77 dst->
m = _mm_sub_ps(q1->
m, q2->
m);
81 const struct quat *q2);
83 static inline void quat_addf(
struct quat *dst,
const struct quat *q,
float f)
85 dst->
m = _mm_add_ps(q->
m, _mm_set1_ps(f));
88 static inline void quat_subf(
struct quat *dst,
const struct quat *q,
float f)
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,
float f)
95 dst->
m = _mm_mul_ps(q->
m, _mm_set1_ps(f));
98 static inline void quat_divf(
struct quat *dst,
const struct quat *q,
float f)
100 dst->
m = _mm_div_ps(q->
m, _mm_set1_ps(f));
103 static inline float quat_dot(
const struct quat *q1,
const struct quat *q2)
106 __m128 mul = _mm_mul_ps(q1->
m, q2->
m);
107 add.m = _mm_add_ps(_mm_movehl_ps(mul, mul), mul);
108 add.m = _mm_add_ps(_mm_shuffle_ps(add.m, add.m, 0x55), add.m);
112 static inline void quat_inv(
struct quat *dst,
const struct quat *q)
119 static inline void quat_neg(
struct quat *dst,
const struct quat *q)
127 static inline float quat_len(
const struct quat *q)
129 float dot_val = quat_dot(q, q);
130 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
133 static inline float quat_dist(
const struct quat *q1,
const struct quat *q2)
138 quat_sub(&temp, q1, q2);
139 dot_val = quat_dot(&temp, &temp);
140 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
143 static inline void quat_norm(
struct quat *dst,
const struct quat *q)
145 float dot_val = quat_dot(q, q);
146 dst->
m = (dot_val > 0.0f)
147 ? _mm_mul_ps(q->
m, _mm_set1_ps(1.0f / sqrtf(dot_val)))
151 static inline bool quat_close(
const struct quat *q1,
const struct quat *q2,
155 quat_sub(&test, q1, q2);
156 return test.x < epsilon && test.y < epsilon && test.z < epsilon &&
171 const struct quat *q2,
float t);
173 const struct quat *q,
const struct quat *next);
175 const struct quat *q2,
const struct quat *m1,
176 const struct quat *m2,
float t);
float ptr[4]
Definition: quat.h:46
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:49
float y
Definition: quat.h:44
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:44
float x
Definition: quat.h:44
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 z
Definition: quat.h:44
__m128 m
Definition: quat.h:47
EXPORT void quat_from_axisang(struct quat *dst, const struct axisang *aa)