Initial upload
This commit is contained in:
121
external/cglm/simd/neon/affine.h
vendored
Normal file
121
external/cglm/simd/neon/affine.h
vendored
Normal file
@@ -0,0 +1,121 @@
|
||||
/*
|
||||
* Copyright (c), Recep Aslantas.
|
||||
*
|
||||
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||||
* Full license can be found in the LICENSE file
|
||||
*/
|
||||
|
||||
#ifndef cglm_affine_neon_h
|
||||
#define cglm_affine_neon_h
|
||||
#if defined(CGLM_NEON_FP)
|
||||
|
||||
#include "../../common.h"
|
||||
#include "../intrin.h"
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
|
||||
/* D = R * L (Column-Major) */
|
||||
|
||||
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
|
||||
|
||||
l = glmm_load(m1[0]);
|
||||
r0 = glmm_load(m2[0]);
|
||||
r1 = glmm_load(m2[1]);
|
||||
r2 = glmm_load(m2[2]);
|
||||
r3 = glmm_load(m2[3]);
|
||||
|
||||
v0 = vmulq_f32(glmm_splat_x(r0), l);
|
||||
v1 = vmulq_f32(glmm_splat_x(r1), l);
|
||||
v2 = vmulq_f32(glmm_splat_x(r2), l);
|
||||
v3 = vmulq_f32(glmm_splat_x(r3), l);
|
||||
|
||||
l = glmm_load(m1[1]);
|
||||
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
|
||||
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
|
||||
|
||||
l = glmm_load(m1[2]);
|
||||
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
|
||||
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
|
||||
|
||||
v3 = glmm_fmadd(glmm_splat_w(r3), glmm_load(m1[3]), v3);
|
||||
|
||||
glmm_store(dest[0], v0);
|
||||
glmm_store(dest[1], v1);
|
||||
glmm_store(dest[2], v2);
|
||||
glmm_store(dest[3], v3);
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
|
||||
/* D = R * L (Column-Major) */
|
||||
|
||||
glmm_128 l, r0, r1, r2, v0, v1, v2;
|
||||
|
||||
l = glmm_load(m1[0]);
|
||||
r0 = glmm_load(m2[0]);
|
||||
r1 = glmm_load(m2[1]);
|
||||
r2 = glmm_load(m2[2]);
|
||||
|
||||
v0 = vmulq_f32(glmm_splat_x(r0), l);
|
||||
v1 = vmulq_f32(glmm_splat_x(r1), l);
|
||||
v2 = vmulq_f32(glmm_splat_x(r2), l);
|
||||
|
||||
l = glmm_load(m1[1]);
|
||||
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
|
||||
|
||||
l = glmm_load(m1[2]);
|
||||
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
|
||||
|
||||
glmm_store(dest[0], v0);
|
||||
glmm_store(dest[1], v1);
|
||||
glmm_store(dest[2], v2);
|
||||
glmm_store(dest[3], glmm_load(m1[3]));
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_inv_tr_neon(mat4 mat) {
|
||||
float32x4x4_t vmat;
|
||||
glmm_128 r0, r1, r2, x0;
|
||||
|
||||
vmat = vld4q_f32(mat[0]);
|
||||
r0 = vmat.val[0];
|
||||
r1 = vmat.val[1];
|
||||
r2 = vmat.val[2];
|
||||
|
||||
x0 = glmm_fmadd(r0, glmm_splat_w(r0),
|
||||
glmm_fmadd(r1, glmm_splat_w(r1),
|
||||
vmulq_f32(r2, glmm_splat_w(r2))));
|
||||
x0 = vnegq_f32(x0);
|
||||
|
||||
glmm_store(mat[0], r0);
|
||||
glmm_store(mat[1], r1);
|
||||
glmm_store(mat[2], r2);
|
||||
glmm_store(mat[3], x0);
|
||||
|
||||
mat[0][3] = 0.0f;
|
||||
mat[1][3] = 0.0f;
|
||||
mat[2][3] = 0.0f;
|
||||
mat[3][3] = 1.0f;
|
||||
|
||||
/* TODO: ?
|
||||
zo = vget_high_f32(r3);
|
||||
vst1_lane_f32(&mat[0][3], zo, 0);
|
||||
vst1_lane_f32(&mat[1][3], zo, 0);
|
||||
vst1_lane_f32(&mat[2][3], zo, 0);
|
||||
vst1_lane_f32(&mat[3][3], zo, 1);
|
||||
*/
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* cglm_affine_neon_h */
|
||||
44
external/cglm/simd/neon/mat2.h
vendored
Normal file
44
external/cglm/simd/neon/mat2.h
vendored
Normal file
@@ -0,0 +1,44 @@
|
||||
/*
|
||||
* Copyright (c), Recep Aslantas.
|
||||
*
|
||||
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||||
* Full license can be found in the LICENSE file
|
||||
*/
|
||||
|
||||
#ifndef cglm_mat2_neon_h
|
||||
#define cglm_mat2_neon_h
|
||||
#if defined(CGLM_NEON_FP)
|
||||
|
||||
#include "../../common.h"
|
||||
#include "../intrin.h"
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat2_mul_neon(mat2 m1, mat2 m2, mat2 dest) {
|
||||
float32x4x2_t a1;
|
||||
glmm_128 x0, x1, x2;
|
||||
float32x2_t dc, ba;
|
||||
|
||||
x1 = glmm_load(m1[0]); /* d c b a */
|
||||
x2 = glmm_load(m2[0]); /* h g f e */
|
||||
|
||||
dc = vget_high_f32(x1);
|
||||
ba = vget_low_f32(x1);
|
||||
|
||||
/* g g e e, h h f f */
|
||||
a1 = vtrnq_f32(x2, x2);
|
||||
|
||||
/*
|
||||
dest[0][0] = a * e + c * f;
|
||||
dest[0][1] = b * e + d * f;
|
||||
dest[1][0] = a * g + c * h;
|
||||
dest[1][1] = b * g + d * h;
|
||||
*/
|
||||
x0 = glmm_fmadd(vcombine_f32(ba, ba), a1.val[0],
|
||||
vmulq_f32(vcombine_f32(dc, dc), a1.val[1]));
|
||||
|
||||
glmm_store(dest[0], x0);
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* cglm_mat2_neon_h */
|
||||
468
external/cglm/simd/neon/mat4.h
vendored
Normal file
468
external/cglm/simd/neon/mat4.h
vendored
Normal file
@@ -0,0 +1,468 @@
|
||||
/*
|
||||
* Copyright (c), Recep Aslantas.
|
||||
*
|
||||
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||||
* Full license can be found in the LICENSE file
|
||||
*/
|
||||
|
||||
#ifndef cglm_mat4_neon_h
|
||||
#define cglm_mat4_neon_h
|
||||
#if defined(CGLM_NEON_FP)
|
||||
|
||||
#include "../../common.h"
|
||||
#include "../intrin.h"
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_scale_neon(mat4 m, float s) {
|
||||
float32x4_t v0;
|
||||
|
||||
v0 = vdupq_n_f32(s);
|
||||
|
||||
vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
|
||||
vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
|
||||
vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
|
||||
vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_transp_neon(mat4 m, mat4 dest) {
|
||||
float32x4x4_t vmat;
|
||||
|
||||
vmat = vld4q_f32(m[0]);
|
||||
|
||||
vst1q_f32(dest[0], vmat.val[0]);
|
||||
vst1q_f32(dest[1], vmat.val[1]);
|
||||
vst1q_f32(dest[2], vmat.val[2]);
|
||||
vst1q_f32(dest[3], vmat.val[3]);
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
|
||||
/* D = R * L (Column-Major) */
|
||||
|
||||
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
|
||||
|
||||
l = glmm_load(m1[0]);
|
||||
r0 = glmm_load(m2[0]);
|
||||
r1 = glmm_load(m2[1]);
|
||||
r2 = glmm_load(m2[2]);
|
||||
r3 = glmm_load(m2[3]);
|
||||
|
||||
v0 = vmulq_f32(glmm_splat_x(r0), l);
|
||||
v1 = vmulq_f32(glmm_splat_x(r1), l);
|
||||
v2 = vmulq_f32(glmm_splat_x(r2), l);
|
||||
v3 = vmulq_f32(glmm_splat_x(r3), l);
|
||||
|
||||
l = glmm_load(m1[1]);
|
||||
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
|
||||
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
|
||||
|
||||
l = glmm_load(m1[2]);
|
||||
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
|
||||
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
|
||||
|
||||
l = glmm_load(m1[3]);
|
||||
v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
|
||||
v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
|
||||
v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
|
||||
v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
|
||||
|
||||
glmm_store(dest[0], v0);
|
||||
glmm_store(dest[1], v1);
|
||||
glmm_store(dest[2], v2);
|
||||
glmm_store(dest[3], v3);
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
|
||||
float32x4_t l0, l1, l2, l3;
|
||||
float32x2_t vlo, vhi;
|
||||
|
||||
l0 = vld1q_f32(m[0]);
|
||||
l1 = vld1q_f32(m[1]);
|
||||
l2 = vld1q_f32(m[2]);
|
||||
l3 = vld1q_f32(m[3]);
|
||||
|
||||
vlo = vld1_f32(&v[0]);
|
||||
vhi = vld1_f32(&v[2]);
|
||||
|
||||
l0 = vmulq_lane_f32(l0, vlo, 0);
|
||||
l0 = vmlaq_lane_f32(l0, l1, vlo, 1);
|
||||
l0 = vmlaq_lane_f32(l0, l2, vhi, 0);
|
||||
l0 = vmlaq_lane_f32(l0, l3, vhi, 1);
|
||||
|
||||
vst1q_f32(dest, l0);
|
||||
}
|
||||
|
||||
CGLM_INLINE
|
||||
float
|
||||
glm_mat4_det_neon(mat4 mat) {
|
||||
float32x4_t r0, r1, r2, r3, x0, x1, x2;
|
||||
float32x2_t ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
|
||||
float32x4x2_t a1;
|
||||
float32x4_t x3 = glmm_float32x4_SIGNMASK_PNPN;
|
||||
|
||||
/* 127 <- 0, [square] det(A) = det(At) */
|
||||
r0 = glmm_load(mat[0]); /* d c b a */
|
||||
r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
|
||||
r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
|
||||
r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
|
||||
|
||||
gh = vget_high_f32(r1);
|
||||
ef = vget_low_f32(r1);
|
||||
kl = vget_high_f32(r2);
|
||||
ij = vget_low_f32(r2);
|
||||
op = vget_high_f32(r3);
|
||||
mn = vget_low_f32(r3);
|
||||
mm = vdup_lane_f32(mn, 1);
|
||||
nn = vdup_lane_f32(mn, 0);
|
||||
ii = vdup_lane_f32(ij, 1);
|
||||
jj = vdup_lane_f32(ij, 0);
|
||||
|
||||
/*
|
||||
t[1] = j * p - n * l;
|
||||
t[2] = j * o - n * k;
|
||||
t[3] = i * p - m * l;
|
||||
t[4] = i * o - m * k;
|
||||
*/
|
||||
x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
|
||||
vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
|
||||
|
||||
t12 = vget_low_f32(x0);
|
||||
t34 = vget_high_f32(x0);
|
||||
|
||||
/* 1 3 1 3 2 4 2 4 */
|
||||
a1 = vuzpq_f32(x0, x0);
|
||||
|
||||
/*
|
||||
t[0] = k * p - o * l;
|
||||
t[0] = k * p - o * l;
|
||||
t[5] = i * n - m * j;
|
||||
t[5] = i * n - m * j;
|
||||
*/
|
||||
x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
|
||||
vcombine_f32(vdup_lane_f32(op, 1), mm),
|
||||
vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
|
||||
vcombine_f32(vdup_lane_f32(kl, 1), ii)));
|
||||
|
||||
/*
|
||||
a * (f * t[0] - g * t[1] + h * t[2])
|
||||
- b * (e * t[0] - g * t[3] + h * t[4])
|
||||
+ c * (e * t[1] - f * t[3] + h * t[5])
|
||||
- d * (e * t[2] - f * t[4] + g * t[5])
|
||||
*/
|
||||
x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
|
||||
vcombine_f32(vget_low_f32(a1.val[0]), t34),
|
||||
vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
|
||||
vcombine_f32(vget_low_f32(x1), t12)));
|
||||
|
||||
x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
|
||||
vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
|
||||
|
||||
x2 = glmm_xor(x2, x3);
|
||||
|
||||
return glmm_hadd(vmulq_f32(x2, r0));
|
||||
}
|
||||
|
||||
/* old one */
|
||||
#if 0
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_inv_neon(mat4 mat, mat4 dest) {
|
||||
float32x4_t r0, r1, r2, r3,
|
||||
v0, v1, v2, v3,
|
||||
t0, t1, t2, t3, t4, t5,
|
||||
x0, x1, x2, x3, x4, x5, x6, x7, x8;
|
||||
float32x4x2_t a1;
|
||||
float32x2_t lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
|
||||
float32x4_t x9 = glmm_float32x4_SIGNMASK_NPNP;
|
||||
|
||||
x8 = vrev64q_f32(x9);
|
||||
|
||||
/* 127 <- 0 */
|
||||
r0 = glmm_load(mat[0]); /* d c b a */
|
||||
r1 = glmm_load(mat[1]); /* h g f e */
|
||||
r2 = glmm_load(mat[2]); /* l k j i */
|
||||
r3 = glmm_load(mat[3]); /* p o n m */
|
||||
|
||||
/* l p k o, j n i m */
|
||||
a1 = vzipq_f32(r3, r2);
|
||||
|
||||
jn = vget_high_f32(a1.val[0]);
|
||||
im = vget_low_f32(a1.val[0]);
|
||||
lp = vget_high_f32(a1.val[1]);
|
||||
ko = vget_low_f32(a1.val[1]);
|
||||
hg = vget_high_f32(r1);
|
||||
|
||||
x1 = vcombine_f32(vdup_lane_f32(lp, 0), lp); /* l p p p */
|
||||
x2 = vcombine_f32(vdup_lane_f32(ko, 0), ko); /* k o o o */
|
||||
x0 = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
|
||||
x3 = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
|
||||
|
||||
/* t1[0] = k * p - o * l;
|
||||
t1[0] = k * p - o * l;
|
||||
t2[0] = g * p - o * h;
|
||||
t3[0] = g * l - k * h; */
|
||||
t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
|
||||
|
||||
fe = vget_low_f32(r1);
|
||||
x4 = vcombine_f32(vdup_lane_f32(jn, 0), jn); /* j n n n */
|
||||
x5 = vcombine_f32(vdup_lane_f32(jn, 1), vdup_lane_f32(fe, 1)); /* f f j j */
|
||||
|
||||
/* t1[1] = j * p - n * l;
|
||||
t1[1] = j * p - n * l;
|
||||
t2[1] = f * p - n * h;
|
||||
t3[1] = f * l - j * h; */
|
||||
t1 = glmm_fnmadd(x4, x0, vmulq_f32(x5, x1));
|
||||
|
||||
/* t1[2] = j * o - n * k
|
||||
t1[2] = j * o - n * k;
|
||||
t2[2] = f * o - n * g;
|
||||
t3[2] = f * k - j * g; */
|
||||
t2 = glmm_fnmadd(x4, x3, vmulq_f32(x5, x2));
|
||||
|
||||
x6 = vcombine_f32(vdup_lane_f32(im, 1), vdup_lane_f32(fe, 0)); /* e e i i */
|
||||
x7 = vcombine_f32(vdup_lane_f32(im, 0), im); /* i m m m */
|
||||
|
||||
/* t1[3] = i * p - m * l;
|
||||
t1[3] = i * p - m * l;
|
||||
t2[3] = e * p - m * h;
|
||||
t3[3] = e * l - i * h; */
|
||||
t3 = glmm_fnmadd(x7, x0, vmulq_f32(x6, x1));
|
||||
|
||||
/* t1[4] = i * o - m * k;
|
||||
t1[4] = i * o - m * k;
|
||||
t2[4] = e * o - m * g;
|
||||
t3[4] = e * k - i * g; */
|
||||
t4 = glmm_fnmadd(x7, x3, vmulq_f32(x6, x2));
|
||||
|
||||
/* t1[5] = i * n - m * j;
|
||||
t1[5] = i * n - m * j;
|
||||
t2[5] = e * n - m * f;
|
||||
t3[5] = e * j - i * f; */
|
||||
t5 = glmm_fnmadd(x7, x5, vmulq_f32(x6, x4));
|
||||
|
||||
/* h d f b, g c e a */
|
||||
a1 = vtrnq_f32(r0, r1);
|
||||
|
||||
x4 = vrev64q_f32(a1.val[0]); /* c g a e */
|
||||
x5 = vrev64q_f32(a1.val[1]); /* d h b f */
|
||||
|
||||
ae = vget_low_f32(x4);
|
||||
cg = vget_high_f32(x4);
|
||||
bf = vget_low_f32(x5);
|
||||
dh = vget_high_f32(x5);
|
||||
|
||||
x0 = vcombine_f32(ae, vdup_lane_f32(ae, 1)); /* a a a e */
|
||||
x1 = vcombine_f32(bf, vdup_lane_f32(bf, 1)); /* b b b f */
|
||||
x2 = vcombine_f32(cg, vdup_lane_f32(cg, 1)); /* c c c g */
|
||||
x3 = vcombine_f32(dh, vdup_lane_f32(dh, 1)); /* d d d h */
|
||||
|
||||
/*
|
||||
dest[0][0] = f * t1[0] - g * t1[1] + h * t1[2];
|
||||
dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
|
||||
dest[0][2] = b * t2[0] - c * t2[1] + d * t2[2];
|
||||
dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
|
||||
v0 = glmm_xor(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, vmulq_f32(x1, t0))), x8);
|
||||
|
||||
/*
|
||||
dest[2][0] = e * t1[1] - f * t1[3] + h * t1[5];
|
||||
dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
|
||||
dest[2][2] = a * t2[1] - b * t2[3] + d * t2[5];
|
||||
dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
|
||||
v2 = glmm_xor(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, vmulq_f32(x0, t1))), x8);
|
||||
|
||||
/*
|
||||
dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
|
||||
dest[1][1] = a * t1[0] - c * t1[3] + d * t1[4];
|
||||
dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
|
||||
dest[1][3] = a * t3[0] - c * t3[3] + d * t3[4]; */
|
||||
v1 = glmm_xor(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, vmulq_f32(x0, t0))), x9);
|
||||
|
||||
/*
|
||||
dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
|
||||
dest[3][1] = a * t1[2] - b * t1[4] + c * t1[5];
|
||||
dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
|
||||
dest[3][3] = a * t3[2] - b * t3[4] + c * t3[5]; */
|
||||
v3 = glmm_xor(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, vmulq_f32(x0, t2))), x9);
|
||||
|
||||
/* determinant */
|
||||
x0 = vcombine_f32(vget_low_f32(vzipq_f32(v0, v1).val[0]),
|
||||
vget_low_f32(vzipq_f32(v2, v3).val[0]));
|
||||
|
||||
/*
|
||||
x0 = glmm_div(glmm_set1_rval(1.0f), glmm_vhadd(vmulq_f32(x0, r0)));
|
||||
|
||||
glmm_store(dest[0], vmulq_f32(v0, x0));
|
||||
glmm_store(dest[1], vmulq_f32(v1, x0));
|
||||
glmm_store(dest[2], vmulq_f32(v2, x0));
|
||||
glmm_store(dest[3], vmulq_f32(v3, x0));
|
||||
*/
|
||||
|
||||
x0 = glmm_vhadd(vmulq_f32(x0, r0));
|
||||
|
||||
glmm_store(dest[0], glmm_div(v0, x0));
|
||||
glmm_store(dest[1], glmm_div(v1, x0));
|
||||
glmm_store(dest[2], glmm_div(v2, x0));
|
||||
glmm_store(dest[3], glmm_div(v3, x0));
|
||||
}
|
||||
#endif
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_mat4_inv_neon(mat4 mat, mat4 dest) {
|
||||
float32x4_t r0, r1, r2, r3,
|
||||
v0, v1, v2, v3, v4, v5,
|
||||
t0, t1, t2;
|
||||
float32x4x2_t a0, a1, a2, a3, a4;
|
||||
float32x4_t s1 = glmm_float32x4_SIGNMASK_PNPN, s2;
|
||||
|
||||
#if !CGLM_ARM64
|
||||
float32x2_t l0, l1;
|
||||
#endif
|
||||
|
||||
s2 = vrev64q_f32(s1);
|
||||
|
||||
/* 127 <- 0 */
|
||||
r0 = glmm_load(mat[0]); /* d c b a */
|
||||
r1 = glmm_load(mat[1]); /* h g f e */
|
||||
r2 = glmm_load(mat[2]); /* l k j i */
|
||||
r3 = glmm_load(mat[3]); /* p o n m */
|
||||
|
||||
a1 = vzipq_f32(r0, r2); /* l d k c, j b i a */
|
||||
a2 = vzipq_f32(r1, r3); /* p h o g, n f m e */
|
||||
a3 = vzipq_f32(a2.val[0], a1.val[0]); /* j n b f, i m a e */
|
||||
a4 = vzipq_f32(a2.val[1], a1.val[1]); /* l p d h, k o c g */
|
||||
|
||||
v0 = vextq_f32(a1.val[0], a1.val[1], 2); /* k c j b */
|
||||
v1 = vextq_f32(a2.val[0], a2.val[1], 2); /* o g n f */
|
||||
v2 = vextq_f32(a1.val[1], a2.val[0], 2); /* m e l d */
|
||||
v3 = vextq_f32(a2.val[1], a1.val[0], 2); /* i a p h */
|
||||
v4 = vextq_f32(v1, v2, 2); /* l d o g */
|
||||
v5 = vextq_f32(v0, v3, 2); /* p h k c */
|
||||
|
||||
/* c2 = c * h - g * d c12 = a * g - c * e c8 = a * f - b * e
|
||||
c1 = k * p - o * l c11 = i * o - k * m c7 = i * n - j * m
|
||||
c4 = h * a - d * e c6 = b * h - d * f c10 = b * g - c * f
|
||||
c3 = p * i - l * m c5 = j * p - l * n c9 = j * o - k * n */
|
||||
t0 = vmulq_f32(v5, v3);
|
||||
t1 = vmulq_f32(a1.val[0], a2.val[1]);
|
||||
t2 = vmulq_f32(a1.val[0], v1);
|
||||
|
||||
t0 = glmm_fnmadd(v4, v2, t0);
|
||||
t1 = glmm_fnmadd(a1.val[1], a2.val[0], t1);
|
||||
t2 = glmm_fnmadd(v0, a2.val[0], t2);
|
||||
|
||||
t0 = vrev64q_f32(t0);
|
||||
t1 = vrev64q_f32(t1);
|
||||
t2 = vrev64q_f32(t2);
|
||||
|
||||
/* det */
|
||||
v0 = vrev64q_f32(t2);
|
||||
v1 = vextq_f32(t1, t1, 2);
|
||||
v0 = vmulq_f32(t0, v0);
|
||||
v1 = vrev64q_f32(v1);
|
||||
v1 = vmulq_f32(v1, t1);
|
||||
|
||||
/* c3 * c10 + c4 * c9 + c1 * c8 + c2 * c7 */
|
||||
#if CGLM_ARM64
|
||||
v0 = vpaddq_f32(v0, v0);
|
||||
v0 = vpaddq_f32(v0, v0);
|
||||
#else
|
||||
l0 = vget_low_f32(v0);
|
||||
l1 = vget_high_f32(v0);
|
||||
|
||||
l0 = vpadd_f32(l0, l0); /* [a+b, a+b] */
|
||||
l1 = vpadd_f32(l1, l1); /* [c+d, c+d] */
|
||||
l0 = vadd_f32(l0, l1); /* [sum, sum] */
|
||||
|
||||
v0 = vcombine_f32(l0, l0);
|
||||
#endif
|
||||
|
||||
/* c5 * c12 + c6 * c11 */
|
||||
#if CGLM_ARM64
|
||||
v1 = vpaddq_f32(v1, v1);
|
||||
#else
|
||||
l0 = vget_low_f32(v1);
|
||||
l1 = vget_high_f32(v1);
|
||||
|
||||
l0 = vpadd_f32(l0, l0); /* [a+b, a+b] */
|
||||
l1 = vpadd_f32(l1, l1); /* [c+d, c+d] */
|
||||
|
||||
v1 = vcombine_f32(l0, l1);
|
||||
#endif
|
||||
|
||||
v0 = vsubq_f32(v0, v1); /* det */
|
||||
|
||||
/* inv div */
|
||||
v1 = vdupq_n_f32(1.0f);
|
||||
v0 = glmm_div(v1, v0); /* inv div */
|
||||
|
||||
/* multiply t0,t1,t2 by idt to reduce 1mul below: 2eor+4mul vs 3mul+4eor */
|
||||
t0 = vmulq_f32(t0, v0);
|
||||
t1 = vmulq_f32(t1, v0);
|
||||
t2 = vmulq_f32(t2, v0);
|
||||
|
||||
a0 = vzipq_f32(t0, t0); /* c4 c4 c3 c3, c2 c2 c1 c1 */
|
||||
a1 = vzipq_f32(t1, t1); /* c6 c6 c5 c5, c12 c12 c11 c11 */
|
||||
a2 = vzipq_f32(t2, t2); /* c10 c10 c9 c9, c8 c8 c7 c7 */
|
||||
|
||||
/* result */
|
||||
|
||||
/* dest[0][0] = (f * c1 - g * c5 + h * c9) * idt;
|
||||
dest[0][1] = (b * c1 - c * c5 + d * c9) * ndt;
|
||||
dest[0][2] = (n * c2 - o * c6 + p * c10) * idt;
|
||||
dest[0][3] = (j * c2 - k * c6 + l * c10) * ndt;
|
||||
|
||||
dest[1][0] = (e * c1 - g * c3 + h * c11) * ndt;
|
||||
dest[1][1] = (a * c1 - c * c3 + d * c11) * idt;
|
||||
dest[1][2] = (m * c2 - o * c4 + p * c12) * ndt;
|
||||
dest[1][3] = (i * c2 - k * c4 + l * c12) * idt;
|
||||
|
||||
dest[2][0] = (e * c5 - f * c3 + h * c7) * idt;
|
||||
dest[2][1] = (a * c5 - b * c3 + d * c7) * ndt;
|
||||
dest[2][2] = (m * c6 - n * c4 + p * c8) * idt;
|
||||
dest[2][3] = (i * c6 - j * c4 + l * c8) * ndt;
|
||||
|
||||
dest[3][0] = (e * c9 - f * c11 + g * c7) * ndt;
|
||||
dest[3][1] = (a * c9 - b * c11 + c * c7) * idt;
|
||||
dest[3][2] = (m * c10 - n * c12 + o * c8) * ndt;
|
||||
dest[3][3] = (i * c10 - j * c12 + k * c8) * idt; */
|
||||
|
||||
r0 = vmulq_f32(a3.val[1], a0.val[0]);
|
||||
r1 = vmulq_f32(a3.val[0], a0.val[0]);
|
||||
r2 = vmulq_f32(a3.val[0], a1.val[1]);
|
||||
r3 = vmulq_f32(a3.val[0], a2.val[1]);
|
||||
|
||||
r0 = glmm_fnmadd(a4.val[0], a1.val[1], r0);
|
||||
r1 = glmm_fnmadd(a4.val[0], a0.val[1], r1);
|
||||
r2 = glmm_fnmadd(a3.val[1], a0.val[1], r2);
|
||||
r3 = glmm_fnmadd(a3.val[1], a1.val[0], r3);
|
||||
|
||||
r0 = glmm_fmadd(a4.val[1], a2.val[1], r0);
|
||||
r1 = glmm_fmadd(a4.val[1], a1.val[0], r1);
|
||||
r2 = glmm_fmadd(a4.val[1], a2.val[0], r2);
|
||||
r3 = glmm_fmadd(a4.val[0], a2.val[0], r3);
|
||||
|
||||
/* 4xor may be fastart then 4mul, see above */
|
||||
r0 = glmm_xor(r0, s1);
|
||||
r1 = glmm_xor(r1, s2);
|
||||
r2 = glmm_xor(r2, s1);
|
||||
r3 = glmm_xor(r3, s2);
|
||||
|
||||
glmm_store(dest[0], r0);
|
||||
glmm_store(dest[1], r1);
|
||||
glmm_store(dest[2], r2);
|
||||
glmm_store(dest[3], r3);
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* cglm_mat4_neon_h */
|
||||
57
external/cglm/simd/neon/quat.h
vendored
Normal file
57
external/cglm/simd/neon/quat.h
vendored
Normal file
@@ -0,0 +1,57 @@
|
||||
/*
|
||||
* Copyright (c), Recep Aslantas.
|
||||
*
|
||||
* MIT License (MIT), http://opensource.org/licenses/MIT
|
||||
* Full license can be found in the LICENSE file
|
||||
*/
|
||||
|
||||
#ifndef cglm_quat_neon_h
|
||||
#define cglm_quat_neon_h
|
||||
#if defined(CGLM_NEON_FP)
|
||||
|
||||
#include "../../common.h"
|
||||
#include "../intrin.h"
|
||||
|
||||
CGLM_INLINE
|
||||
void
|
||||
glm_quat_mul_neon(versor p, versor q, versor dest) {
|
||||
/*
|
||||
+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
|
||||
+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
|
||||
+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
|
||||
a1 a2 − b1 b2 − c1 c2 − d1 d2
|
||||
*/
|
||||
|
||||
glmm_128 xp, xq, xqr, r, x, y, z, s2, s3;
|
||||
glmm_128 s1 = glmm_float32x4_SIGNMASK_NPPN;
|
||||
|
||||
float32x2_t qh, ql;
|
||||
|
||||
xp = glmm_load(p); /* 3 2 1 0 */
|
||||
xq = glmm_load(q);
|
||||
|
||||
r = vmulq_f32(glmm_splat_w(xp), xq);
|
||||
x = glmm_splat_x(xp);
|
||||
y = glmm_splat_y(xp);
|
||||
z = glmm_splat_z(xp);
|
||||
|
||||
ql = vget_high_f32(s1);
|
||||
s3 = vcombine_f32(ql, ql);
|
||||
s2 = vzipq_f32(s3, s3).val[0];
|
||||
|
||||
xqr = vrev64q_f32(xq);
|
||||
qh = vget_high_f32(xqr);
|
||||
ql = vget_low_f32(xqr);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(x, s3), vcombine_f32(qh, ql), r);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(y, s2), vcombine_f32(vget_high_f32(xq),
|
||||
vget_low_f32(xq)), r);
|
||||
|
||||
r = glmm_fmadd(glmm_xor(z, s1), vcombine_f32(ql, qh), r);
|
||||
|
||||
glmm_store(dest, r);
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif /* cglm_quat_neon_h */
|
||||
Reference in New Issue
Block a user