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/**
* @file llmatrix4a.h
* @brief LLMatrix4a class header file - memory aligned and vectorized 4x4 matrix
*
* $LicenseInfo:firstyear=2007&license=viewerlgpl$
* Second Life Viewer Source Code
* Copyright (C) 2010, Linden Research, Inc.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation;
* version 2.1 of the License only.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
* $/LicenseInfo$
*/
#ifndef LL_LLMATRIX4A_H
#define LL_LLMATRIX4A_H
#include "llvector4a.h"
#include "m4math.h"
#include "m3math.h"
class LLMatrix4a
{
public:
LL_ALIGN_16(LLVector4a mMatrix[4]);
LLMatrix4a()
{
}
explicit LLMatrix4a(const LLMatrix4& val)
{
loadu(val);
}
explicit LLMatrix4a(const F32* val)
{
loadu(val);
}
static const LLMatrix4a& identity()
{
static const F32 v[] =
{ 1.f, 0.f, 0.f, 0.f,
0.f, 1.f, 0.f, 0.f,
0.f, 0.f, 1.f, 0.f,
0.f, 0.f, 0.f, 1.f
};
static LLMatrix4a identity_mat(v);
return identity_mat;
}
bool operator==(const LLMatrix4a& rhs) const
{
return mMatrix[0] == rhs.mMatrix[0] && mMatrix[1] == rhs.mMatrix[1] && mMatrix[2] == rhs.mMatrix[2] && mMatrix[3] == rhs.mMatrix[3];
}
bool operator!=(const LLMatrix4a& rhs) const
{
return !(*this == rhs);
}
inline F32* getF32ptr()
{
return (F32*) &mMatrix;
}
inline const F32* getF32ptr() const
{
return (F32*)&mMatrix;
}
inline LLMatrix4& asMatrix4()
{
return *(LLMatrix4*)this;
}
inline const LLMatrix4& asMatrix4() const
{
return *(LLMatrix4*)this;
}
inline void clear()
{
mMatrix[0].clear();
mMatrix[1].clear();
mMatrix[2].clear();
mMatrix[3].clear();
}
inline void setIdentity()
{
mMatrix[0].set(1.f, 0.f, 0.f, 0.f);
mMatrix[1].set(0.f, 1.f, 0.f, 0.f);
mMatrix[2].set(0.f, 0.f, 1.f, 0.f);
mMatrix[3].set(0.f, 0.f, 0.f, 1.f);
}
inline void loadu(const LLMatrix4& src)
{
mMatrix[0] = _mm_loadu_ps(src.mMatrix[0]);
mMatrix[1] = _mm_loadu_ps(src.mMatrix[1]);
mMatrix[2] = _mm_loadu_ps(src.mMatrix[2]);
mMatrix[3] = _mm_loadu_ps(src.mMatrix[3]);
}
inline void loadu(const F32* src)
{
mMatrix[0] = _mm_loadu_ps(src);
mMatrix[1] = _mm_loadu_ps(src+4);
mMatrix[2] = _mm_loadu_ps(src+8);
mMatrix[3] = _mm_loadu_ps(src+12);
}
inline void loadu(const LLMatrix3& src)
{
mMatrix[0].load3(src.mMatrix[0]);
mMatrix[1].load3(src.mMatrix[1]);
mMatrix[2].load3(src.mMatrix[2]);
mMatrix[3].set(0,0,0,1.f);
}
inline void add(const LLMatrix4a& rhs)
{
mMatrix[0].add(rhs.mMatrix[0]);
mMatrix[1].add(rhs.mMatrix[1]);
mMatrix[2].add(rhs.mMatrix[2]);
mMatrix[3].add(rhs.mMatrix[3]);
}
inline void setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2)
{
mMatrix[0] = r0;
mMatrix[1] = r1;
mMatrix[2] = r2;
}
inline void setMul(const LLMatrix4a& m, const F32 s)
{
mMatrix[0].setMul(m.mMatrix[0], s);
mMatrix[1].setMul(m.mMatrix[1], s);
mMatrix[2].setMul(m.mMatrix[2], s);
mMatrix[3].setMul(m.mMatrix[3], s);
}
inline void setLerp(const LLMatrix4a& a, const LLMatrix4a& b, F32 w)
{
LLVector4a d0,d1,d2,d3;
d0.setSub(b.mMatrix[0], a.mMatrix[0]);
d1.setSub(b.mMatrix[1], a.mMatrix[1]);
d2.setSub(b.mMatrix[2], a.mMatrix[2]);
d3.setSub(b.mMatrix[3], a.mMatrix[3]);
// this = a + d*w
d0.mul(w);
d1.mul(w);
d2.mul(w);
d3.mul(w);
mMatrix[0].setAdd(a.mMatrix[0],d0);
mMatrix[1].setAdd(a.mMatrix[1],d1);
mMatrix[2].setAdd(a.mMatrix[2],d2);
mMatrix[3].setAdd(a.mMatrix[3],d3);
}
inline void rotate(const LLVector4a& v, LLVector4a& res) const
{
LLVector4a y,z;
res = _mm_shuffle_ps(v, v, _MM_SHUFFLE(0, 0, 0, 0));
y = _mm_shuffle_ps(v, v, _MM_SHUFFLE(1, 1, 1, 1));
z = _mm_shuffle_ps(v, v, _MM_SHUFFLE(2, 2, 2, 2));
res.mul(mMatrix[0]);
y.mul(mMatrix[1]);
z.mul(mMatrix[2]);
res.add(y);
res.add(z);
}
inline void affineTransformSSE(const LLVector4a& v, LLVector4a& res) const
{
LLVector4a x,y,z;
x = _mm_shuffle_ps(v, v, _MM_SHUFFLE(0, 0, 0, 0));
y = _mm_shuffle_ps(v, v, _MM_SHUFFLE(1, 1, 1, 1));
z = _mm_shuffle_ps(v, v, _MM_SHUFFLE(2, 2, 2, 2));
x.mul(mMatrix[0]);
y.mul(mMatrix[1]);
z.mul(mMatrix[2]);
x.add(y);
z.add(mMatrix[3]);
res.setAdd(x,z);
}
inline void affineTransformNonSSE(const LLVector4a& v, LLVector4a& res) const
{
F32 x = v[0] * mMatrix[0][0] + v[1] * mMatrix[1][0] + v[2] * mMatrix[2][0] + mMatrix[3][0];
F32 y = v[0] * mMatrix[0][1] + v[1] * mMatrix[1][1] + v[2] * mMatrix[2][1] + mMatrix[3][1];
F32 z = v[0] * mMatrix[0][2] + v[1] * mMatrix[1][2] + v[2] * mMatrix[2][2] + mMatrix[3][2];
F32 w = 1.0f;
res.set(x,y,z,w);
}
inline void affineTransform(const LLVector4a& v, LLVector4a& res) const
{
affineTransformSSE(v,res);
}
const LLVector4a& getTranslation() const { return mMatrix[3]; }
};
inline LLVector4a rowMul(const LLVector4a &row, const LLMatrix4a &mat)
{
LLVector4a result;
result = _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(0, 0, 0, 0)), mat.mMatrix[0]);
result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(1, 1, 1, 1)), mat.mMatrix[1]));
result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(2, 2, 2, 2)), mat.mMatrix[2]));
result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(3, 3, 3, 3)), mat.mMatrix[3]));
return result;
}
inline void matMul(const LLMatrix4a &a, const LLMatrix4a &b, LLMatrix4a &res)
{
LLVector4a row0 = rowMul(a.mMatrix[0], b);
LLVector4a row1 = rowMul(a.mMatrix[1], b);
LLVector4a row2 = rowMul(a.mMatrix[2], b);
LLVector4a row3 = rowMul(a.mMatrix[3], b);
res.mMatrix[0] = row0;
res.mMatrix[1] = row1;
res.mMatrix[2] = row2;
res.mMatrix[3] = row3;
}
//Faster version of matMul wehere res must not be a or b
inline void matMulUnsafe(const LLMatrix4a &a, const LLMatrix4a &b, LLMatrix4a &res)
{
res.mMatrix[0] = rowMul(a.mMatrix[0], b);
res.mMatrix[1] = rowMul(a.mMatrix[1], b);
res.mMatrix[2] = rowMul(a.mMatrix[2], b);
res.mMatrix[3] = rowMul(a.mMatrix[3], b);
}
inline std::ostream& operator<<(std::ostream& s, const LLMatrix4a& m)
{
s << "[" << m.mMatrix[0] << ", " << m.mMatrix[1] << ", " << m.mMatrix[2] << ", " << m.mMatrix[3] << "]";
return s;
}
void matMulBoundBox(const LLMatrix4a &a, const LLVector4a *in_extents, LLVector4a *out_extents);
#endif
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