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simd_quat.hpp
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1
42 #pragma once
43
44 // Dependency:
45 #include "../glm.hpp"
46 #include "../gtc/quaternion.hpp"
47 #include "../gtx/fast_trigonometry.hpp"
48
49 #if(GLM_ARCH != GLM_ARCH_PURE)
50
51 #if(GLM_ARCH & GLM_ARCH_SSE2)
52 # include "../gtx/simd_mat4.hpp"
53 #else
54 # error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics"
55 #endif
56
57 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
58 # pragma message("GLM: GLM_GTX_simd_quat extension included")
59 #endif
60
61 // Warning silencer for nameless struct/union.
62 #if (GLM_COMPILER & GLM_COMPILER_VC)
63 # pragma warning(push)
64 # pragma warning(disable:4201) // warning C4201: nonstandard extension used : nameless struct/union
65 #endif
66
67 namespace glm{
68 namespace detail
69 {
70 GLM_ALIGNED_STRUCT(16) fquatSIMD
71 {
72 typedef __m128 value_type;
73 typedef std::size_t size_type;
74 static size_type value_size();
75
76 typedef fquatSIMD type;
77 typedef tquat<bool, defaultp> bool_type;
78
79 #ifdef GLM_SIMD_ENABLE_XYZW_UNION
80 union
81 {
82 __m128 Data;
83 struct {float x, y, z, w;};
84 };
85 #else
86 __m128 Data;
87 #endif
88
90 // Implicit basic constructors
91
92 fquatSIMD();
93 fquatSIMD(__m128 const & Data);
94 fquatSIMD(fquatSIMD const & q);
95
97 // Explicit basic constructors
98
99 explicit fquatSIMD(
100 ctor);
101 explicit fquatSIMD(
102 float const & w,
103 float const & x,
104 float const & y,
105 float const & z);
106 explicit fquatSIMD(
107 quat const & v);
108 explicit fquatSIMD(
109 vec3 const & eulerAngles);
110
111
113 // Unary arithmetic operators
114
115 fquatSIMD& operator =(fquatSIMD const & q);
116 fquatSIMD& operator*=(float const & s);
117 fquatSIMD& operator/=(float const & s);
118 };
119
120
122 // Arithmetic operators
123
124 detail::fquatSIMD operator- (
125 detail::fquatSIMD const & q);
126
127 detail::fquatSIMD operator+ (
128 detail::fquatSIMD const & q,
129 detail::fquatSIMD const & p);
130
131 detail::fquatSIMD operator* (
132 detail::fquatSIMD const & q,
133 detail::fquatSIMD const & p);
134
135 detail::fvec4SIMD operator* (
136 detail::fquatSIMD const & q,
137 detail::fvec4SIMD const & v);
138
139 detail::fvec4SIMD operator* (
140 detail::fvec4SIMD const & v,
141 detail::fquatSIMD const & q);
142
143 detail::fquatSIMD operator* (
144 detail::fquatSIMD const & q,
145 float s);
146
147 detail::fquatSIMD operator* (
148 float s,
149 detail::fquatSIMD const & q);
150
151 detail::fquatSIMD operator/ (
152 detail::fquatSIMD const & q,
153 float s);
154
155 }//namespace detail
156
159
160 typedef glm::detail::fquatSIMD simdQuat;
161
164 quat quat_cast(
165 detail::fquatSIMD const & x);
166
169 detail::fquatSIMD quatSIMD_cast(
170 detail::fmat4x4SIMD const & m);
171
174 template <typename T, precision P>
175 detail::fquatSIMD quatSIMD_cast(
176 tmat4x4<T, P> const & m);
177
180 template <typename T, precision P>
181 detail::fquatSIMD quatSIMD_cast(
182 tmat3x3<T, P> const & m);
183
186 detail::fmat4x4SIMD mat4SIMD_cast(
187 detail::fquatSIMD const & q);
188
191 mat4 mat4_cast(
192 detail::fquatSIMD const & q);
193
194
198 float length(
199 detail::fquatSIMD const & x);
200
204 detail::fquatSIMD normalize(
205 detail::fquatSIMD const & x);
206
210 float dot(
211 detail::fquatSIMD const & q1,
212 detail::fquatSIMD const & q2);
213
224 detail::fquatSIMD mix(
225 detail::fquatSIMD const & x,
226 detail::fquatSIMD const & y,
227 float const & a);
228
237 detail::fquatSIMD lerp(
238 detail::fquatSIMD const & x,
239 detail::fquatSIMD const & y,
240 float const & a);
241
250 detail::fquatSIMD slerp(
251 detail::fquatSIMD const & x,
252 detail::fquatSIMD const & y,
253 float const & a);
254
255
266 detail::fquatSIMD fastMix(
267 detail::fquatSIMD const & x,
268 detail::fquatSIMD const & y,
269 float const & a);
270
278 detail::fquatSIMD fastSlerp(
279 detail::fquatSIMD const & x,
280 detail::fquatSIMD const & y,
281 float const & a);
282
283
287 detail::fquatSIMD conjugate(
288 detail::fquatSIMD const & q);
289
293 detail::fquatSIMD inverse(
294 detail::fquatSIMD const & q);
295
302 detail::fquatSIMD angleAxisSIMD(
303 float const & angle,
304 vec3 const & axis);
305
314 detail::fquatSIMD angleAxisSIMD(
315 float const & angle,
316 float const & x,
317 float const & y,
318 float const & z);
319
320 // TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp().
322 __m128 fastSin(__m128 x);
323
325 }//namespace glm
326
327 #include "simd_quat.inl"
328
329
330 #if (GLM_COMPILER & GLM_COMPILER_VC)
331 # pragma warning(pop)
332 #endif
333
334
335 #endif//(GLM_ARCH != GLM_ARCH_PURE)
glm::fastSin
GLM_FUNC_DECL T fastSin(T angle)
Faster than the common sin function but less accurate.
glm::quat_cast
GLM_FUNC_DECL tquat< T, P > quat_cast(tmat3x3< T, P > const &x)
Converts a 3 * 3 matrix to a quaternion.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
Definition: compatibility.hpp:76
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
glm::dot
GLM_FUNC_DECL T dot(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the dot product of x and y, i.e., result = x * y.
glm::mat4
mat4x4 mat4
4 columns of 4 components matrix of floating-point numbers.
Definition: type_mat.hpp:442
glm::length
GLM_FUNC_DECL T length(vecType< T, P > const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::normalize
GLM_FUNC_DECL vecType< T, P > normalize(vecType< T, P > const &x)
Returns a vector in the same direction as x but with length of 1.
glm::mix
GLM_FUNC_DECL vecType< T, P > mix(vecType< T, P > const &x, vecType< T, P > const &y, vecType< U, P > const &a)
If genTypeU is a floating scalar or vector: Returns x * (1.0 - a) + y * a, i.e., the linear blend of ...
glm
Definition: _noise.hpp:39
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
glm::vec3
highp_vec3 vec3
3 components vector of floating-point numbers.
Definition: type_vec.hpp:397
glm::inverse
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
Return the inverse of a squared matrix.
glm::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::fastMix
GLM_FUNC_DECL tquat< T, P > fastMix(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Quaternion normalized linear interpolation.
glm::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Linear interpolation of two quaternions.