339 lines
9.7 KiB
C++
339 lines
9.7 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtx_simd_quat
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/// @file glm/gtx/simd_quat.hpp
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/// @date 2009-05-07 / 2011-06-07
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/// @author Christophe Riccio
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///
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/// @see core (dependence)
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///
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/// @defgroup gtx_simd_vec4 GLM_GTX_simd_quat
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/// @ingroup gtx
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///
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/// @brief SIMD implementation of quat type.
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///
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/// <glm/gtx/simd_quat.hpp> need to be included to use these functionalities.
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///////////////////////////////////////////////////////////////////////////////////
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#pragma once
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// Dependency:
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#include "../glm.hpp"
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#include "../gtc/quaternion.hpp"
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#include "../gtx/fast_trigonometry.hpp"
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#if(GLM_ARCH != GLM_ARCH_PURE)
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#if(GLM_ARCH & GLM_ARCH_SSE2)
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# include "../gtx/simd_mat4.hpp"
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#else
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# error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics"
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#endif
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#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
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# pragma message("GLM: GLM_GTX_simd_quat extension included")
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#endif
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// Warning silencer for nameless struct/union.
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#if (GLM_COMPILER & GLM_COMPILER_VC)
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# pragma warning(push)
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# pragma warning(disable:4201) // warning C4201: nonstandard extension used : nameless struct/union
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#endif
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namespace glm{
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namespace detail
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{
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/// Quaternion implemented using SIMD SEE intrinsics.
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/// \ingroup gtx_simd_vec4
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GLM_ALIGNED_STRUCT(16) fquatSIMD
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{
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enum ctor{null};
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typedef __m128 value_type;
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typedef std::size_t size_type;
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static size_type value_size();
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typedef fquatSIMD type;
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typedef tquat<bool, defaultp> bool_type;
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#ifdef GLM_SIMD_ENABLE_XYZW_UNION
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union
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{
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__m128 Data;
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struct {float x, y, z, w;};
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};
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#else
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__m128 Data;
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#endif
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//////////////////////////////////////
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// Implicit basic constructors
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fquatSIMD();
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fquatSIMD(__m128 const & Data);
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fquatSIMD(fquatSIMD const & q);
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//////////////////////////////////////
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// Explicit basic constructors
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explicit fquatSIMD(
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ctor);
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explicit fquatSIMD(
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float const & w,
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float const & x,
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float const & y,
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float const & z);
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explicit fquatSIMD(
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quat const & v);
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explicit fquatSIMD(
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vec3 const & eulerAngles);
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//////////////////////////////////////
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// Unary arithmetic operators
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fquatSIMD& operator =(fquatSIMD const & q);
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fquatSIMD& operator*=(float const & s);
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fquatSIMD& operator/=(float const & s);
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};
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//////////////////////////////////////
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// Arithmetic operators
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detail::fquatSIMD operator- (
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detail::fquatSIMD const & q);
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detail::fquatSIMD operator+ (
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detail::fquatSIMD const & q,
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detail::fquatSIMD const & p);
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detail::fquatSIMD operator* (
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detail::fquatSIMD const & q,
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detail::fquatSIMD const & p);
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detail::fvec4SIMD operator* (
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detail::fquatSIMD const & q,
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detail::fvec4SIMD const & v);
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detail::fvec4SIMD operator* (
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detail::fvec4SIMD const & v,
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detail::fquatSIMD const & q);
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detail::fquatSIMD operator* (
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detail::fquatSIMD const & q,
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float s);
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detail::fquatSIMD operator* (
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float s,
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detail::fquatSIMD const & q);
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detail::fquatSIMD operator/ (
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detail::fquatSIMD const & q,
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float s);
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}//namespace detail
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typedef glm::detail::fquatSIMD simdQuat;
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/// @addtogroup gtx_simd_quat
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/// @{
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//! Convert a simdQuat to a quat.
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//! (From GLM_GTX_simd_quat extension)
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quat quat_cast(
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detail::fquatSIMD const & x);
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//! Convert a simdMat4 to a simdQuat.
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//! (From GLM_GTX_simd_quat extension)
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detail::fquatSIMD quatSIMD_cast(
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detail::fmat4x4SIMD const & m);
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//! Converts a mat4 to a simdQuat.
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//! (From GLM_GTX_simd_quat extension)
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template <typename T, precision P>
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detail::fquatSIMD quatSIMD_cast(
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detail::tmat4x4<T, P> const & m);
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//! Converts a mat3 to a simdQuat.
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//! (From GLM_GTX_simd_quat extension)
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template <typename T, precision P>
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detail::fquatSIMD quatSIMD_cast(
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detail::tmat3x3<T, P> const & m);
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//! Convert a simdQuat to a simdMat4
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//! (From GLM_GTX_simd_quat extension)
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detail::fmat4x4SIMD mat4SIMD_cast(
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detail::fquatSIMD const & q);
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//! Converts a simdQuat to a standard mat4.
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//! (From GLM_GTX_simd_quat extension)
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mat4 mat4_cast(
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detail::fquatSIMD const & q);
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/// Returns the length of the quaternion.
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///
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/// @see gtc_quaternion
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float length(
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detail::fquatSIMD const & x);
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/// Returns the normalized quaternion.
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///
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/// @see gtc_quaternion
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detail::fquatSIMD normalize(
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detail::fquatSIMD const & x);
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/// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
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///
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/// @see gtc_quaternion
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float dot(
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detail::fquatSIMD const & q1,
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detail::fquatSIMD const & q2);
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation is oriented and the rotation is performed at constant speed.
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/// For short path spherical linear interpolation, use the slerp function.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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/// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
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detail::fquatSIMD mix(
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detail::fquatSIMD const & x,
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detail::fquatSIMD const & y,
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float const & a);
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/// Linear interpolation of two quaternions.
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/// The interpolation is oriented.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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detail::fquatSIMD lerp(
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detail::fquatSIMD const & x,
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detail::fquatSIMD const & y,
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float const & a);
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation always take the short path and the rotation is performed at constant speed.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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detail::fquatSIMD slerp(
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detail::fquatSIMD const & x,
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detail::fquatSIMD const & y,
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float const & a);
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/// Faster spherical linear interpolation of two unit length quaternions.
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///
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/// This is the same as mix(), except for two rules:
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/// 1) The two quaternions must be unit length.
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/// 2) The interpolation factor (a) must be in the range [0, 1].
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///
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/// This will use the equivalent to fastAcos() and fastSin().
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///
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/// @see gtc_quaternion
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/// @see - mix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
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detail::fquatSIMD fastMix(
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detail::fquatSIMD const & x,
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detail::fquatSIMD const & y,
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float const & a);
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/// Identical to fastMix() except takes the shortest path.
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///
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/// The same rules apply here as those in fastMix(). Both quaternions must be unit length and 'a' must be
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/// in the range [0, 1].
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///
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/// @see - fastMix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
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/// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
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detail::fquatSIMD fastSlerp(
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detail::fquatSIMD const & x,
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detail::fquatSIMD const & y,
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float const & a);
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/// Returns the q conjugate.
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///
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/// @see gtc_quaternion
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detail::fquatSIMD conjugate(
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detail::fquatSIMD const & q);
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/// Returns the q inverse.
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///
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/// @see gtc_quaternion
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detail::fquatSIMD inverse(
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detail::fquatSIMD const & q);
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/// Build a quaternion from an angle and a normalized axis.
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///
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/// @param angle Angle expressed in radians.
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/// @param axis Axis of the quaternion, must be normalized.
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///
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/// @see gtc_quaternion
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detail::fquatSIMD angleAxisSIMD(
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float const & angle,
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vec3 const & axis);
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/// Build a quaternion from an angle and a normalized axis.
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///
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/// @param angle Angle expressed in radians.
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/// @param x x component of the x-axis, x, y, z must be a normalized axis
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/// @param y y component of the y-axis, x, y, z must be a normalized axis
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/// @param z z component of the z-axis, x, y, z must be a normalized axis
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///
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/// @see gtc_quaternion
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detail::fquatSIMD angleAxisSIMD(
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float const & angle,
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float const & x,
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float const & y,
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float const & z);
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// TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp().
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/// Performs the equivalent of glm::fastSin() on each component of the given __m128.
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__m128 fastSin(__m128 x);
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/// @}
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}//namespace glm
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#include "simd_quat.inl"
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#if (GLM_COMPILER & GLM_COMPILER_VC)
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# pragma warning(pop)
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#endif
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#endif//(GLM_ARCH != GLM_ARCH_PURE)
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