47 lines
1.1 KiB
C
47 lines
1.1 KiB
C
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/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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#ifndef cglm_quat_simd_h
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#define cglm_quat_simd_h
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#if defined( __SSE__ ) || defined( __SSE2__ )
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#include "../../common.h"
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#include "../intrin.h"
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CGLM_INLINE
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void
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glm_quat_mul_sse2(versor p, versor q, versor dest) {
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/*
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+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
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+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
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+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
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a1 a2 − b1 b2 − c1 c2 − d1 d2
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*/
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__m128 xp, xq, x0, r;
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xp = glmm_load(p); /* 3 2 1 0 */
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xq = glmm_load(q);
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r = _mm_mul_ps(glmm_shuff1x(xp, 3), xq);
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x0 = _mm_xor_ps(glmm_shuff1x(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
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r = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 0, 1, 2, 3)));
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x0 = _mm_xor_ps(glmm_shuff1x(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
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r = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 1, 0, 3, 2)));
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x0 = _mm_xor_ps(glmm_shuff1x(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
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r = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 2, 3, 0, 1)));
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glmm_store(dest, r);
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}
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#endif
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#endif /* cglm_quat_simd_h */
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