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Added generic quaternion SIMD optimizations
This commit is contained in:
Christophe Riccio
parent
9459aac681
commit
166099e82d
@ -57,7 +57,7 @@ namespace glm
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# ifdef GLM_SWIZZLE
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GLM_SWIZZLE_GEN_VEC_FROM_VEC4(T, P, tvec4, tvec2, tvec3, tvec4)
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# endif//GLM_SWIZZLE
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# endif//GLM_LANG
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# endif
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// -- Component accesses --
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@ -40,7 +40,15 @@ namespace glm
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// -- Data --
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T x, y, z, w;
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# if GLM_HAS_UNRESTRICTED_UNIONS
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union
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{
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struct { T x, y, z, w;};
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typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data;
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};
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# else
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T x, y, z, w;
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# endif
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// -- Component accesses --
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@ -97,6 +105,8 @@ namespace glm
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P> const & q);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
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@ -12,12 +12,57 @@ namespace detail
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template <typename T, precision P, bool Aligned>
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struct compute_dot<tquat, T, P, Aligned>
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{
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static GLM_FUNC_QUALIFIER T call(tquat<T, P> const & x, tquat<T, P> const & y)
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static GLM_FUNC_QUALIFIER T call(tquat<T, P> const& x, tquat<T, P> const& y)
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{
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tvec4<T, P> tmp(x.x * y.x, x.y * y.y, x.z * y.z, x.w * y.w);
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return (tmp.x + tmp.y) + (tmp.z + tmp.w);
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}
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};
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template <typename T, precision P, bool Aligned>
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struct compute_quat_add
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{
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static tquat<T, P> call(tquat<T, P> const& q, tquat<T, P> const& p)
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{
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return tquat<T, P>(q.w + p.w, q.x + p.x, q.y + p.y, q.z + p.z);
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}
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};
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template <typename T, precision P, bool Aligned>
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struct compute_quat_sub
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{
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static tquat<T, P> call(tquat<T, P> const& q, tquat<T, P> const& p)
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{
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return tquat<T, P>(q.w - p.w, q.x - p.x, q.y - p.y, q.z - p.z);
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}
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};
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template <typename T, precision P, bool Aligned>
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struct compute_quat_mul_scalar
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{
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static tquat<T, P> call(tquat<T, P> const& q, T s)
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{
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return tquat<T, P>(q.w * s, q.x * s, q.y * s, q.z * s);
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}
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};
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template <typename T, precision P, bool Aligned>
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struct compute_quat_div_scalar
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{
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static tquat<T, P> call(tquat<T, P> const& q, T s)
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{
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return tquat<T, P>(q.w / s, q.x / s, q.y / s, q.z / s);
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}
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};
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template <typename T, precision P, bool Aligned>
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struct compute_quat_mul_vec4
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{
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static tvec4<T, P> call(tquat<T, P> const & q, tvec4<T, P> const & v)
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{
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return tvec4<T, P>(q * tvec3<T, P>(v), v.w);
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}
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};
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}//namespace detail
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// -- Component accesses --
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@ -198,13 +243,16 @@ namespace detail
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template <typename T, precision P>
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template <typename U>
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator+=(tquat<U, P> const & q)
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator+=(tquat<U, P> const& q)
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{
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this->w += static_cast<T>(q.w);
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this->x += static_cast<T>(q.x);
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this->y += static_cast<T>(q.y);
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this->z += static_cast<T>(q.z);
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return *this;
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return (*this = detail::compute_quat_add<T, P, detail::is_aligned<P>::value>::call(*this, tquat<T, P>(q)));
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}
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template <typename T, precision P>
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template <typename U>
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator-=(tquat<U, P> const& q)
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{
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return (*this = detail::compute_quat_sub<T, P, detail::is_aligned<P>::value>::call(*this, tquat<T, P>(q)));
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}
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template <typename T, precision P>
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@ -225,22 +273,14 @@ namespace detail
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template <typename U>
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator*=(U s)
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{
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this->w *= static_cast<U>(s);
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this->x *= static_cast<U>(s);
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this->y *= static_cast<U>(s);
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this->z *= static_cast<U>(s);
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return *this;
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return (*this = detail::compute_quat_mul_scalar<T, P, detail::is_aligned<P>::value>::call(*this, static_cast<U>(s)));
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}
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template <typename T, precision P>
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template <typename U>
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator/=(U s)
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{
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this->w /= static_cast<U>(s);
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this->x /= static_cast<U>(s);
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this->y /= static_cast<U>(s);
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this->z /= static_cast<U>(s);
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return *this;
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return (*this = detail::compute_quat_div_scalar<T, P, detail::is_aligned<P>::value>::call(*this, static_cast<U>(s)));
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}
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// -- Unary bit operators --
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@ -288,9 +328,9 @@ namespace detail
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}
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template <typename T, precision P>
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GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v)
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GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tquat<T, P> const& q, tvec4<T, P> const& v)
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{
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return tvec4<T, P>(q * tvec3<T, P>(v), v.w);
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return detail::compute_quat_mul_vec4<T, P, detail::is_aligned<P>::value>::call(q, v);
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}
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template <typename T, precision P>
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@ -738,3 +778,8 @@ namespace detail
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return Result;
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}
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}//namespace glm
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#if GLM_ARCH != GLM_ARCH_PURE && GLM_HAS_UNRESTRICTED_UNIONS
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# include "quaternion_simd.inl"
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#endif
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198
glm/gtc/quaternion_simd.inl
Normal file
198
glm/gtc/quaternion_simd.inl
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@ -0,0 +1,198 @@
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/// @ref core
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/// @file glm/gtc/quaternion_simd.inl
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#if GLM_ARCH & GLM_ARCH_SSE2_BIT
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namespace glm{
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namespace detail
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{
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/*
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template <precision P>
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struct compute_quat_mul<float, P, true>
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{
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static tquat<float, P> call(tquat<float, P> const& q1, tquat<float, P> const& q2)
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{
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// SSE2 STATS: 11 shuffle, 8 mul, 8 add
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// SSE4 STATS: 3 shuffle, 4 mul, 4 dpps
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__m128 const mul0 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(0, 1, 2, 3)));
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__m128 const mul1 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(1, 0, 3, 2)));
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__m128 const mul2 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(2, 3, 0, 1)));
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__m128 const mul3 = _mm_mul_ps(q1.Data, q2.Data);
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# if GLM_ARCH & GLM_ARCH_SSE41_BIT
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__m128 const add0 = _mm_dp_ps(mul0, _mm_set_ps(1.0f, -1.0f, 1.0f, 1.0f), 0xff);
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__m128 const add1 = _mm_dp_ps(mul1, _mm_set_ps(1.0f, 1.0f, 1.0f, -1.0f), 0xff);
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__m128 const add2 = _mm_dp_ps(mul2, _mm_set_ps(1.0f, 1.0f, -1.0f, 1.0f), 0xff);
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__m128 const add3 = _mm_dp_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f), 0xff);
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# else
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__m128 const mul4 = _mm_mul_ps(mul0, _mm_set_ps(1.0f, -1.0f, 1.0f, 1.0f));
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__m128 const add0 = _mm_add_ps(mul0, _mm_movehl_ps(mul4, mul4));
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__m128 const add4 = _mm_add_ss(add0, _mm_shuffle_ps(add0, add0, 1));
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__m128 const mul5 = _mm_mul_ps(mul1, _mm_set_ps(1.0f, 1.0f, 1.0f, -1.0f));
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__m128 const add1 = _mm_add_ps(mul1, _mm_movehl_ps(mul5, mul5));
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__m128 const add5 = _mm_add_ss(add1, _mm_shuffle_ps(add1, add1, 1));
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__m128 const mul6 = _mm_mul_ps(mul2, _mm_set_ps(1.0f, 1.0f, -1.0f, 1.0f));
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__m128 const add2 = _mm_add_ps(mul6, _mm_movehl_ps(mul6, mul6));
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__m128 const add6 = _mm_add_ss(add2, _mm_shuffle_ps(add2, add2, 1));
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__m128 const mul7 = _mm_mul_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f));
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__m128 const add3 = _mm_add_ps(mul3, _mm_movehl_ps(mul7, mul7));
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__m128 const add7 = _mm_add_ss(add3, _mm_shuffle_ps(add3, add3, 1));
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#endif
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// This SIMD code is a politically correct way of doing this, but in every test I've tried it has been slower than
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// the final code below. I'll keep this here for reference - maybe somebody else can do something better...
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//
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//__m128 xxyy = _mm_shuffle_ps(add4, add5, _MM_SHUFFLE(0, 0, 0, 0));
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//__m128 zzww = _mm_shuffle_ps(add6, add7, _MM_SHUFFLE(0, 0, 0, 0));
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//
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//return _mm_shuffle_ps(xxyy, zzww, _MM_SHUFFLE(2, 0, 2, 0));
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tquat<float, P> Result(uninitialize);
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_mm_store_ss(&Result.x, add4);
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_mm_store_ss(&Result.y, add5);
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_mm_store_ss(&Result.z, add6);
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_mm_store_ss(&Result.w, add7);
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return Result;
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}
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};
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*/
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template <precision P>
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struct compute_dot<tquat, float, P, true>
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{
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static GLM_FUNC_QUALIFIER float call(tquat<float, P> const& x, tquat<float, P> const& y)
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{
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return _mm_cvtss_f32(glm_vec1_dot(x.data, y.data));
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}
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};
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template <precision P>
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struct compute_quat_add<float, P, true>
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{
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static tquat<float, P> call(tquat<float, P> const& q, tquat<float, P> const& p)
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{
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tquat<float, P> Result(uninitialize);
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Result.data = _mm_add_ps(q.data, p.data);
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return Result;
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}
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};
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# if GLM_ARCH & GLM_ARCH_AVX_BIT
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template <precision P>
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struct compute_quat_add<double, P, true>
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{
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static tquat<double, P> call(tquat<double, P> const & a, tquat<double, P> const & b)
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{
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tquat<double, P> Result(uninitialize);
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Result.data = _mm256_add_pd(a.data, b.data);
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return Result;
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}
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};
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# endif
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template <precision P>
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struct compute_quat_sub<float, P, true>
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{
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static tquat<float, P> call(tquat<float, P> const& q, tquat<float, P> const& p)
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{
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tvec4<float, P> Result(uninitialize);
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Result.data = _mm_sub_ps(q.data, p.data);
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return Result;
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}
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};
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# if GLM_ARCH & GLM_ARCH_AVX_BIT
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template <precision P>
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struct compute_quat_sub<double, P, true>
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{
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static tquat<double, P> call(tquat<double, P> const & a, tquat<double, P> const & b)
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{
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tquat<double, P> Result(uninitialize);
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Result.data = _mm256_sub_pd(a.data, b.data);
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return Result;
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}
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};
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# endif
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template <precision P>
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struct compute_quat_mul_scalar<float, P, true>
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{
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static tquat<float, P> call(tquat<float, P> const& q, float s)
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{
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tvec4<float, P> Result(uninitialize);
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Result.data = _mm_mul_ps(q.data, _mm_set_ps1(s));
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return Result;
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}
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};
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# if GLM_ARCH & GLM_ARCH_AVX_BIT
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template <precision P>
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struct compute_quat_mul_scalar<double, P, true>
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{
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static tquat<double, P> call(tquat<double, P> const& q, double s)
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{
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tquat<double, P> Result(uninitialize);
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Result.data = _mm256_mul_pd(q.data, _mm_set_ps1(s));
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return Result;
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}
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};
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# endif
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template <precision P>
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struct compute_quat_div_scalar<float, P, true>
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{
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static tquat<float, P> call(tquat<float, P> const& q, float s)
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{
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tvec4<float, P> Result(uninitialize);
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Result.data = _mm_div_ps(q.data, _mm_set_ps1(s));
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return Result;
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}
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};
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# if GLM_ARCH & GLM_ARCH_AVX_BIT
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template <precision P>
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struct compute_quat_div_scalar<double, P, true>
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{
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static tquat<double, P> call(tquat<double, P> const& q, double s)
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{
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tquat<double, P> Result(uninitialize);
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Result.data = _mm256_div_pd(q.data, _mm_set_ps1(s));
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return Result;
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}
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};
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# endif
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template <precision P>
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struct compute_quat_mul_vec4<float, P, true>
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{
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static tvec4<float, P> call(tquat<float, P> const& q, tvec4<float, P> const& v)
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{
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__m128 const q_wwww = _mm_shuffle_ps(q.data, q.data, _MM_SHUFFLE(3, 3, 3, 3));
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__m128 const q_swp0 = _mm_shuffle_ps(q.data, q.data, _MM_SHUFFLE(3, 0, 2, 1));
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__m128 const q_swp1 = _mm_shuffle_ps(q.data, q.data, _MM_SHUFFLE(3, 1, 0, 2));
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__m128 const v_swp0 = _mm_shuffle_ps(v.data, v.data, _MM_SHUFFLE(3, 0, 2, 1));
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__m128 const v_swp1 = _mm_shuffle_ps(v.data, v.data, _MM_SHUFFLE(3, 1, 0, 2));
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__m128 uv = _mm_sub_ps(_mm_mul_ps(q_swp0, v_swp1), _mm_mul_ps(q_swp1, v_swp0));
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__m128 uv_swp0 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 0, 2, 1));
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__m128 uv_swp1 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 1, 0, 2));
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__m128 uuv = _mm_sub_ps(_mm_mul_ps(q_swp0, uv_swp1), _mm_mul_ps(q_swp1, uv_swp0));
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__m128 const two = _mm_set1_ps(2.0f);
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uv = _mm_mul_ps(uv, _mm_mul_ps(q_wwww, two));
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uuv = _mm_mul_ps(uuv, two);
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tvec4<float, P> Result(uninitialize);
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Result.data = _mm_add_ps(v.Data, _mm_add_ps(uv, uuv));
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return Result;
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}
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};
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}//namespace detail
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}//namespace glm
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#endif//GLM_ARCH & GLM_ARCH_SSE2_BIT
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