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/**
* @file llviewerjointmesh.cpp
* @brief LLV4* class header file - vector processor enabled math
*
* $LicenseInfo:firstyear=2007&license=viewerlgpl$
* 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_LLV4MATRIX3_H
#define LL_LLV4MATRIX3_H
#include "llv4math.h"
#include "llv4vector3.h"
#include "m3math.h" // for operator LLMatrix3()
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix3
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
LL_LLV4MATH_ALIGN_PREFIX
class LLV4Matrix3
{
public:
union {
F32 mMatrix[LLV4_NUM_AXIS][LLV4_NUM_AXIS];
V4F32 mV[LLV4_NUM_AXIS];
};
void lerp(const LLV4Matrix3 &a, const LLV4Matrix3 &b, const F32 &w);
void multiply(const LLVector3 &a, LLVector3& out) const;
void multiply(const LLVector4 &a, LLV4Vector3& out) const;
void multiply(const LLVector3 &a, LLV4Vector3& out) const;
const LLV4Matrix3& transpose();
const LLV4Matrix3& operator=(const LLMatrix3& a);
operator LLMatrix3() const { return (reinterpret_cast<const LLMatrix4*>(const_cast<const F32*>(&mMatrix[0][0])))->getMat3(); }
friend LLVector3 operator*(const LLVector3& a, const LLV4Matrix3& b);
}
LL_LLV4MATH_ALIGN_POSTFIX;
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix3 - SSE
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#if LL_VECTORIZE
inline void LLV4Matrix3::lerp(const LLV4Matrix3 &a, const LLV4Matrix3 &b, const F32 &w)
{
__m128 vw = _mm_set1_ps(w);
mV[VX] = _mm_add_ps(_mm_mul_ps(_mm_sub_ps(b.mV[VX], a.mV[VX]), vw), a.mV[VX]); // ( b - a ) * w + a
mV[VY] = _mm_add_ps(_mm_mul_ps(_mm_sub_ps(b.mV[VY], a.mV[VY]), vw), a.mV[VY]);
mV[VZ] = _mm_add_ps(_mm_mul_ps(_mm_sub_ps(b.mV[VZ], a.mV[VZ]), vw), a.mV[VZ]);
}
inline void LLV4Matrix3::multiply(const LLVector3 &a, LLVector3& o) const
{
LLV4Vector3 j;
j.v = _mm_mul_ps(_mm_set1_ps(a.mV[VX]), mV[VX]); // ( ax * vx ) + ...
j.v = _mm_add_ps(j.v , _mm_mul_ps(_mm_set1_ps(a.mV[VY]), mV[VY]));
j.v = _mm_add_ps(j.v , _mm_mul_ps(_mm_set1_ps(a.mV[VZ]), mV[VZ]));
o.setVec(j.mV);
}
inline void LLV4Matrix3::multiply(const LLVector4 &a, LLV4Vector3& o) const
{
o.v = _mm_mul_ps(_mm_set1_ps(a.mV[VX]), mV[VX]); // ( ax * vx ) + ...
o.v = _mm_add_ps(o.v , _mm_mul_ps(_mm_set1_ps(a.mV[VY]), mV[VY]));
o.v = _mm_add_ps(o.v , _mm_mul_ps(_mm_set1_ps(a.mV[VZ]), mV[VZ]));
}
inline void LLV4Matrix3::multiply(const LLVector3 &a, LLV4Vector3& o) const
{
o.v = _mm_mul_ps(_mm_set1_ps(a.mV[VX]), mV[VX]); // ( ax * vx ) + ...
o.v = _mm_add_ps(o.v , _mm_mul_ps(_mm_set1_ps(a.mV[VY]), mV[VY]));
o.v = _mm_add_ps(o.v , _mm_mul_ps(_mm_set1_ps(a.mV[VZ]), mV[VZ]));
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix3
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#else
inline void LLV4Matrix3::lerp(const LLV4Matrix3 &a, const LLV4Matrix3 &b, const F32 &w)
{
mMatrix[VX][VX] = llv4lerp(a.mMatrix[VX][VX], b.mMatrix[VX][VX], w);
mMatrix[VX][VY] = llv4lerp(a.mMatrix[VX][VY], b.mMatrix[VX][VY], w);
mMatrix[VX][VZ] = llv4lerp(a.mMatrix[VX][VZ], b.mMatrix[VX][VZ], w);
mMatrix[VY][VX] = llv4lerp(a.mMatrix[VY][VX], b.mMatrix[VY][VX], w);
mMatrix[VY][VY] = llv4lerp(a.mMatrix[VY][VY], b.mMatrix[VY][VY], w);
mMatrix[VY][VZ] = llv4lerp(a.mMatrix[VY][VZ], b.mMatrix[VY][VZ], w);
mMatrix[VZ][VX] = llv4lerp(a.mMatrix[VZ][VX], b.mMatrix[VZ][VX], w);
mMatrix[VZ][VY] = llv4lerp(a.mMatrix[VZ][VY], b.mMatrix[VZ][VY], w);
mMatrix[VZ][VZ] = llv4lerp(a.mMatrix[VZ][VZ], b.mMatrix[VZ][VZ], w);
}
inline void LLV4Matrix3::multiply(const LLVector3 &a, LLVector3& o) const
{
o.setVec( a.mV[VX] * mMatrix[VX][VX] +
a.mV[VY] * mMatrix[VY][VX] +
a.mV[VZ] * mMatrix[VZ][VX],
a.mV[VX] * mMatrix[VX][VY] +
a.mV[VY] * mMatrix[VY][VY] +
a.mV[VZ] * mMatrix[VZ][VY],
a.mV[VX] * mMatrix[VX][VZ] +
a.mV[VY] * mMatrix[VY][VZ] +
a.mV[VZ] * mMatrix[VZ][VZ]);
}
inline void LLV4Matrix3::multiply(const LLVector4 &a, LLV4Vector3& o) const
{
o.setVec( a.mV[VX] * mMatrix[VX][VX] +
a.mV[VY] * mMatrix[VY][VX] +
a.mV[VZ] * mMatrix[VZ][VX],
a.mV[VX] * mMatrix[VX][VY] +
a.mV[VY] * mMatrix[VY][VY] +
a.mV[VZ] * mMatrix[VZ][VY],
a.mV[VX] * mMatrix[VX][VZ] +
a.mV[VY] * mMatrix[VY][VZ] +
a.mV[VZ] * mMatrix[VZ][VZ]);
}
inline void LLV4Matrix3::multiply(const LLVector3 &a, LLV4Vector3& o) const
{
o.setVec( a.mV[VX] * mMatrix[VX][VX] +
a.mV[VY] * mMatrix[VY][VX] +
a.mV[VZ] * mMatrix[VZ][VX],
a.mV[VX] * mMatrix[VX][VY] +
a.mV[VY] * mMatrix[VY][VY] +
a.mV[VZ] * mMatrix[VZ][VY],
a.mV[VX] * mMatrix[VX][VZ] +
a.mV[VY] * mMatrix[VY][VZ] +
a.mV[VZ] * mMatrix[VZ][VZ]);
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix3
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#endif
inline const LLV4Matrix3& LLV4Matrix3::transpose()
{
#if LL_VECTORIZE && defined(_MM_TRANSPOSE4_PS)
_MM_TRANSPOSE4_PS(mV[VX], mV[VY], mV[VZ], mV[VW]);
return *this;
#else
F32 temp;
temp = mMatrix[VX][VY]; mMatrix[VX][VY] = mMatrix[VY][VX]; mMatrix[VY][VX] = temp;
temp = mMatrix[VX][VZ]; mMatrix[VX][VZ] = mMatrix[VZ][VX]; mMatrix[VZ][VX] = temp;
temp = mMatrix[VY][VZ]; mMatrix[VY][VZ] = mMatrix[VZ][VY]; mMatrix[VZ][VY] = temp;
#endif
return *this;
}
inline const LLV4Matrix3& LLV4Matrix3::operator=(const LLMatrix3& a)
{
memcpy(mMatrix[VX], a.mMatrix[VX], sizeof(F32) * 3 );
memcpy(mMatrix[VY], a.mMatrix[VY], sizeof(F32) * 3 );
memcpy(mMatrix[VZ], a.mMatrix[VZ], sizeof(F32) * 3 );
return *this;
}
inline LLVector3 operator*(const LLVector3& a, const LLV4Matrix3& b)
{
return LLVector3(
a.mV[VX] * b.mMatrix[VX][VX] +
a.mV[VY] * b.mMatrix[VY][VX] +
a.mV[VZ] * b.mMatrix[VZ][VX],
a.mV[VX] * b.mMatrix[VX][VY] +
a.mV[VY] * b.mMatrix[VY][VY] +
a.mV[VZ] * b.mMatrix[VZ][VY],
a.mV[VX] * b.mMatrix[VX][VZ] +
a.mV[VY] * b.mMatrix[VY][VZ] +
a.mV[VZ] * b.mMatrix[VZ][VZ] );
}
#endif
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