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Diffstat (limited to '3rdparty/include/glm/gtx/simd_quat.hpp')
| -rw-r--r-- | 3rdparty/include/glm/gtx/simd_quat.hpp | 335 |
1 files changed, 335 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtx/simd_quat.hpp b/3rdparty/include/glm/gtx/simd_quat.hpp new file mode 100644 index 0000000..810ce30 --- /dev/null +++ b/3rdparty/include/glm/gtx/simd_quat.hpp @@ -0,0 +1,335 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// OpenGL Mathematics (glm.g-truc.net) +/// +/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net) +/// Permission is hereby granted, free of charge, to any person obtaining a copy +/// of this software and associated documentation files (the "Software"), to deal +/// in the Software without restriction, including without limitation the rights +/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +/// copies of the Software, and to permit persons to whom the Software is +/// furnished to do so, subject to the following conditions: +/// +/// The above copyright notice and this permission notice shall be included in +/// all copies or substantial portions of the Software. +/// +/// Restrictions: +/// By making use of the Software for military purposes, you choose to make +/// a Bunny unhappy. +/// +/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +/// THE SOFTWARE. +/// +/// @ref gtx_simd_quat +/// @file glm/gtx/simd_quat.hpp +/// @date 2013-04-22 / 2014-11-25 +/// @author Christophe Riccio +/// +/// @see core (dependence) +/// +/// @defgroup gtx_simd_quat GLM_GTX_simd_quat +/// @ingroup gtx +/// +/// @brief SIMD implementation of quat type. +/// +/// <glm/gtx/simd_quat.hpp> need to be included to use these functionalities. +/////////////////////////////////////////////////////////////////////////////////// + +#pragma once + +// Dependency: +#include "../glm.hpp" +#include "../gtc/quaternion.hpp" +#include "../gtx/fast_trigonometry.hpp" + +#if(GLM_ARCH != GLM_ARCH_PURE) + +#if(GLM_ARCH & GLM_ARCH_SSE2) +# include "../gtx/simd_mat4.hpp" +#else +# error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics" +#endif + +#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) +# pragma message("GLM: GLM_GTX_simd_quat extension included") +#endif + +// Warning silencer for nameless struct/union. +#if (GLM_COMPILER & GLM_COMPILER_VC) +# pragma warning(push) +# pragma warning(disable:4201) // warning C4201: nonstandard extension used : nameless struct/union +#endif + +namespace glm{ +namespace detail +{ + GLM_ALIGNED_STRUCT(16) fquatSIMD + { + typedef __m128 value_type; + typedef std::size_t size_type; + static size_type value_size(); + + typedef fquatSIMD type; + typedef tquat<bool, defaultp> bool_type; + +#ifdef GLM_SIMD_ENABLE_XYZW_UNION + union + { + __m128 Data; + struct {float x, y, z, w;}; + }; +#else + __m128 Data; +#endif + + ////////////////////////////////////// + // Implicit basic constructors + + fquatSIMD(); + fquatSIMD(__m128 const & Data); + fquatSIMD(fquatSIMD const & q); + + ////////////////////////////////////// + // Explicit basic constructors + + explicit fquatSIMD( + ctor); + explicit fquatSIMD( + float const & w, + float const & x, + float const & y, + float const & z); + explicit fquatSIMD( + quat const & v); + explicit fquatSIMD( + vec3 const & eulerAngles); + + + ////////////////////////////////////// + // Unary arithmetic operators + + fquatSIMD& operator =(fquatSIMD const & q); + fquatSIMD& operator*=(float const & s); + fquatSIMD& operator/=(float const & s); + }; + + + ////////////////////////////////////// + // Arithmetic operators + + detail::fquatSIMD operator- ( + detail::fquatSIMD const & q); + + detail::fquatSIMD operator+ ( + detail::fquatSIMD const & q, + detail::fquatSIMD const & p); + + detail::fquatSIMD operator* ( + detail::fquatSIMD const & q, + detail::fquatSIMD const & p); + + detail::fvec4SIMD operator* ( + detail::fquatSIMD const & q, + detail::fvec4SIMD const & v); + + detail::fvec4SIMD operator* ( + detail::fvec4SIMD const & v, + detail::fquatSIMD const & q); + + detail::fquatSIMD operator* ( + detail::fquatSIMD const & q, + float s); + + detail::fquatSIMD operator* ( + float s, + detail::fquatSIMD const & q); + + detail::fquatSIMD operator/ ( + detail::fquatSIMD const & q, + float s); + +}//namespace detail + + /// @addtogroup gtx_simd_quat + /// @{ + + typedef glm::detail::fquatSIMD simdQuat; + + //! Convert a simdQuat to a quat. + /// @see gtx_simd_quat + quat quat_cast( + detail::fquatSIMD const & x); + + //! Convert a simdMat4 to a simdQuat. + /// @see gtx_simd_quat + detail::fquatSIMD quatSIMD_cast( + detail::fmat4x4SIMD const & m); + + //! Converts a mat4 to a simdQuat. + /// @see gtx_simd_quat + template <typename T, precision P> + detail::fquatSIMD quatSIMD_cast( + tmat4x4<T, P> const & m); + + //! Converts a mat3 to a simdQuat. + /// @see gtx_simd_quat + template <typename T, precision P> + detail::fquatSIMD quatSIMD_cast( + tmat3x3<T, P> const & m); + + //! Convert a simdQuat to a simdMat4 + /// @see gtx_simd_quat + detail::fmat4x4SIMD mat4SIMD_cast( + detail::fquatSIMD const & q); + + //! Converts a simdQuat to a standard mat4. + /// @see gtx_simd_quat + mat4 mat4_cast( + detail::fquatSIMD const & q); + + + /// Returns the length of the quaternion. + /// + /// @see gtx_simd_quat + float length( + detail::fquatSIMD const & x); + + /// Returns the normalized quaternion. + /// + /// @see gtx_simd_quat + detail::fquatSIMD normalize( + detail::fquatSIMD const & x); + + /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... + /// + /// @see gtx_simd_quat + float dot( + detail::fquatSIMD const & q1, + detail::fquatSIMD const & q2); + + /// Spherical linear interpolation of two quaternions. + /// The interpolation is oriented and the rotation is performed at constant speed. + /// For short path spherical linear interpolation, use the slerp function. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtx_simd_quat + /// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) + detail::fquatSIMD mix( + detail::fquatSIMD const & x, + detail::fquatSIMD const & y, + float const & a); + + /// Linear interpolation of two quaternions. + /// The interpolation is oriented. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtx_simd_quat + detail::fquatSIMD lerp( + detail::fquatSIMD const & x, + detail::fquatSIMD const & y, + float const & a); + + /// Spherical linear interpolation of two quaternions. + /// The interpolation always take the short path and the rotation is performed at constant speed. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtx_simd_quat + detail::fquatSIMD slerp( + detail::fquatSIMD const & x, + detail::fquatSIMD const & y, + float const & a); + + + /// Faster spherical linear interpolation of two unit length quaternions. + /// + /// This is the same as mix(), except for two rules: + /// 1) The two quaternions must be unit length. + /// 2) The interpolation factor (a) must be in the range [0, 1]. + /// + /// This will use the equivalent to fastAcos() and fastSin(). + /// + /// @see gtx_simd_quat + /// @see - mix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) + detail::fquatSIMD fastMix( + detail::fquatSIMD const & x, + detail::fquatSIMD const & y, + float const & a); + + /// Identical to fastMix() except takes the shortest path. + /// + /// The same rules apply here as those in fastMix(). Both quaternions must be unit length and 'a' must be + /// in the range [0, 1]. + /// + /// @see - fastMix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) + /// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) + detail::fquatSIMD fastSlerp( + detail::fquatSIMD const & x, + detail::fquatSIMD const & y, + float const & a); + + + /// Returns the q conjugate. + /// + /// @see gtx_simd_quat + detail::fquatSIMD conjugate( + detail::fquatSIMD const & q); + + /// Returns the q inverse. + /// + /// @see gtx_simd_quat + detail::fquatSIMD inverse( + detail::fquatSIMD const & q); + + /// Build a quaternion from an angle and a normalized axis. + /// + /// @param angle Angle expressed in radians. + /// @param axis Axis of the quaternion, must be normalized. + /// + /// @see gtx_simd_quat + detail::fquatSIMD angleAxisSIMD( + float const & angle, + vec3 const & axis); + + /// Build a quaternion from an angle and a normalized axis. + /// + /// @param angle Angle expressed in radians. + /// @param x x component of the x-axis, x, y, z must be a normalized axis + /// @param y y component of the y-axis, x, y, z must be a normalized axis + /// @param z z component of the z-axis, x, y, z must be a normalized axis + /// + /// @see gtx_simd_quat + detail::fquatSIMD angleAxisSIMD( + float const & angle, + float const & x, + float const & y, + float const & z); + + // TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp(). + /// Performs the equivalent of glm::fastSin() on each component of the given __m128. + __m128 fastSin(__m128 x); + + /// @} +}//namespace glm + +#include "simd_quat.inl" + + +#if (GLM_COMPILER & GLM_COMPILER_VC) +# pragma warning(pop) +#endif + + +#endif//(GLM_ARCH != GLM_ARCH_PURE) |