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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_LLV4MATRIX4_H
#define LL_LLV4MATRIX4_H
#include "llv4math.h"
#include "llv4matrix3.h" // just for operator LLV4Matrix3()
#include "llv4vector3.h"
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix4
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
LL_LLV4MATH_ALIGN_PREFIX
class LLV4Matrix4
{
public:
union {
F32 mMatrix[LLV4_NUM_AXIS][LLV4_NUM_AXIS];
V4F32 mV[LLV4_NUM_AXIS];
};
void lerp(const LLV4Matrix4 &a, const LLV4Matrix4 &b, const F32 &w);
void multiply(const LLVector3 &a, LLVector3& o) const;
void multiply(const LLVector3 &a, LLV4Vector3& o) const;
const LLV4Matrix4& transpose();
const LLV4Matrix4& translate(const LLVector3 &vec);
const LLV4Matrix4& translate(const LLV4Vector3 &vec);
const LLV4Matrix4& operator=(const LLMatrix4& a);
operator LLMatrix4() const { return *(reinterpret_cast<const LLMatrix4*>(const_cast<const F32*>(&mMatrix[0][0]))); }
operator LLV4Matrix3() const { return *(reinterpret_cast<const LLV4Matrix3*>(const_cast<const F32*>(&mMatrix[0][0]))); }
friend LLVector3 operator*(const LLVector3 &a, const LLV4Matrix4 &b);
}
LL_LLV4MATH_ALIGN_POSTFIX;
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix4 - SSE
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#if LL_VECTORIZE
inline void LLV4Matrix4::lerp(const LLV4Matrix4 &a, const LLV4Matrix4 &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]);
mV[VW] = _mm_add_ps(_mm_mul_ps(_mm_sub_ps(b.mV[VW], a.mV[VW]), vw), a.mV[VW]);
}
inline void LLV4Matrix4::multiply(const LLVector3 &a, LLVector3& o) const
{
LLV4Vector3 j;
j.v = _mm_add_ps(mV[VW], _mm_mul_ps(_mm_set1_ps(a.mV[VX]), mV[VX])); // ( ax * vx ) + vw
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 LLV4Matrix4::multiply(const LLVector3 &a, LLV4Vector3& o) const
{
o.v = _mm_add_ps(mV[VW], _mm_mul_ps(_mm_set1_ps(a.mV[VX]), mV[VX])); // ( ax * vx ) + vw
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 const LLV4Matrix4& LLV4Matrix4::translate(const LLV4Vector3 &vec)
{
mV[VW] = _mm_add_ps(mV[VW], vec.v);
return (*this);
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix4
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#else
inline void LLV4Matrix4::lerp(const LLV4Matrix4 &a, const LLV4Matrix4 &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);
mMatrix[VW][VX] = llv4lerp(a.mMatrix[VW][VX], b.mMatrix[VW][VX], w);
mMatrix[VW][VY] = llv4lerp(a.mMatrix[VW][VY], b.mMatrix[VW][VY], w);
mMatrix[VW][VZ] = llv4lerp(a.mMatrix[VW][VZ], b.mMatrix[VW][VZ], w);
}
inline void LLV4Matrix4::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] +
mMatrix[VW][VX],
a.mV[VX] * mMatrix[VX][VY] +
a.mV[VY] * mMatrix[VY][VY] +
a.mV[VZ] * mMatrix[VZ][VY] +
mMatrix[VW][VY],
a.mV[VX] * mMatrix[VX][VZ] +
a.mV[VY] * mMatrix[VY][VZ] +
a.mV[VZ] * mMatrix[VZ][VZ] +
mMatrix[VW][VZ]);
}
inline void LLV4Matrix4::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] +
mMatrix[VW][VX],
a.mV[VX] * mMatrix[VX][VY] +
a.mV[VY] * mMatrix[VY][VY] +
a.mV[VZ] * mMatrix[VZ][VY] +
mMatrix[VW][VY],
a.mV[VX] * mMatrix[VX][VZ] +
a.mV[VY] * mMatrix[VY][VZ] +
a.mV[VZ] * mMatrix[VZ][VZ] +
mMatrix[VW][VZ]);
}
inline const LLV4Matrix4& LLV4Matrix4::translate(const LLV4Vector3 &vec)
{
mMatrix[3][0] += vec.mV[0];
mMatrix[3][1] += vec.mV[1];
mMatrix[3][2] += vec.mV[2];
return (*this);
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// LLV4Matrix4
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#endif
inline const LLV4Matrix4& LLV4Matrix4::operator=(const LLMatrix4& a)
{
memcpy(mMatrix, a.mMatrix, sizeof(F32) * 16 );
return *this;
}
inline const LLV4Matrix4& LLV4Matrix4::transpose()
{
#if LL_VECTORIZE && defined(_MM_TRANSPOSE4_PS)
_MM_TRANSPOSE4_PS(mV[VX], mV[VY], mV[VZ], mV[VW]);
#else
LLV4Matrix4 mat;
mat.mMatrix[0][0] = mMatrix[0][0];
mat.mMatrix[1][0] = mMatrix[0][1];
mat.mMatrix[2][0] = mMatrix[0][2];
mat.mMatrix[3][0] = mMatrix[0][3];
mat.mMatrix[0][1] = mMatrix[1][0];
mat.mMatrix[1][1] = mMatrix[1][1];
mat.mMatrix[2][1] = mMatrix[1][2];
mat.mMatrix[3][1] = mMatrix[1][3];
mat.mMatrix[0][2] = mMatrix[2][0];
mat.mMatrix[1][2] = mMatrix[2][1];
mat.mMatrix[2][2] = mMatrix[2][2];
mat.mMatrix[3][2] = mMatrix[2][3];
mat.mMatrix[0][3] = mMatrix[3][0];
mat.mMatrix[1][3] = mMatrix[3][1];
mat.mMatrix[2][3] = mMatrix[3][2];
mat.mMatrix[3][3] = mMatrix[3][3];
*this = mat;
#endif
return *this;
}
inline const LLV4Matrix4& LLV4Matrix4::translate(const LLVector3 &vec)
{
mMatrix[3][0] += vec.mV[0];
mMatrix[3][1] += vec.mV[1];
mMatrix[3][2] += vec.mV[2];
return (*this);
}
inline LLVector3 operator*(const LLVector3 &a, const LLV4Matrix4 &b)
{
return LLVector3(a.mV[VX] * b.mMatrix[VX][VX] +
a.mV[VY] * b.mMatrix[VY][VX] +
a.mV[VZ] * b.mMatrix[VZ][VX] +
b.mMatrix[VW][VX],
a.mV[VX] * b.mMatrix[VX][VY] +
a.mV[VY] * b.mMatrix[VY][VY] +
a.mV[VZ] * b.mMatrix[VZ][VY] +
b.mMatrix[VW][VY],
a.mV[VX] * b.mMatrix[VX][VZ] +
a.mV[VY] * b.mMatrix[VY][VZ] +
a.mV[VZ] * b.mMatrix[VZ][VZ] +
b.mMatrix[VW][VZ]);
}
#endif
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