20 #include "../util/c99defs.h" 24 #include "../util/sse-intrin.h" 52 static inline void quat_identity(
struct quat *q)
54 q->
m = _mm_setzero_ps();
58 static inline void quat_set(
struct quat *dst,
float x,
float y,
float z,
61 dst->
m = _mm_set_ps(x, y, z, w);
64 static inline void quat_copy(
struct quat *dst,
const struct quat *q)
69 static inline void quat_add(
struct quat *dst,
const struct quat *q1,
70 const struct quat *q2)
72 dst->
m = _mm_add_ps(q1->
m, q2->
m);
75 static inline void quat_sub(
struct quat *dst,
const struct quat *q1,
76 const struct quat *q2)
78 dst->
m = _mm_sub_ps(q1->
m, q2->
m);
82 const struct quat *q2);
84 static inline void quat_addf(
struct quat *dst,
const struct quat *q,
float f)
86 dst->
m = _mm_add_ps(q->
m, _mm_set1_ps(f));
89 static inline void quat_subf(
struct quat *dst,
const struct quat *q,
float f)
91 dst->
m = _mm_sub_ps(q->
m, _mm_set1_ps(f));
94 static inline void quat_mulf(
struct quat *dst,
const struct quat *q,
float f)
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,
float f)
101 dst->
m = _mm_div_ps(q->
m, _mm_set1_ps(f));
104 static inline float quat_dot(
const struct quat *q1,
const struct quat *q2)
107 __m128 mul = _mm_mul_ps(q1->
m, q2->
m);
108 add.m = _mm_add_ps(_mm_movehl_ps(mul, mul), mul);
109 add.m = _mm_add_ps(_mm_shuffle_ps(add.m, add.m, 0x55), add.m);
113 static inline void quat_inv(
struct quat *dst,
const struct quat *q)
120 static inline void quat_neg(
struct quat *dst,
const struct quat *q)
128 static inline float quat_len(
const struct quat *q)
130 float dot_val = quat_dot(q, q);
131 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
134 static inline float quat_dist(
const struct quat *q1,
const struct quat *q2)
139 quat_sub(&temp, q1, q2);
140 dot_val = quat_dot(&temp, &temp);
141 return (dot_val > 0.0f) ? sqrtf(dot_val) : 0.0f;
144 static inline void quat_norm(
struct quat *dst,
const struct quat *q)
146 float dot_val = quat_dot(q, q);
147 dst->
m = (dot_val > 0.0f)
148 ? _mm_mul_ps(q->
m, _mm_set1_ps(1.0f / sqrtf(dot_val)))
152 static inline bool quat_close(
const struct quat *q1,
const struct quat *q2,
156 quat_sub(&test, q1, q2);
157 return test.x < epsilon && test.y < epsilon && test.z < epsilon &&
172 const struct quat *q2,
float t);
174 const struct quat *q,
const struct quat *next);
176 const struct quat *q2,
const struct quat *m1,
177 const struct quat *m2,
float t);
float ptr[4]
Definition: quat.h:47
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:37
float y
Definition: quat.h:45
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:45
float x
Definition: quat.h:45
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:45
__m128 m
Definition: quat.h:48
EXPORT void quat_from_axisang(struct quat *dst, const struct axisang *aa)