99 lines
3.8 KiB
C++
99 lines
3.8 KiB
C++
#pragma once
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////////////////////////////////////////////////////////////////////////////////
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// The MIT License (MIT)
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//
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// Copyright (c) 2018 Nicholas Frechette & Realtime Math contributors
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//
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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 all
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// 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 THE
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// SOFTWARE.
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////////////////////////////////////////////////////////////////////////////////
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#include "rtm/math.h"
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#include "rtm/impl/compiler_utils.h"
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RTM_IMPL_FILE_PRAGMA_PUSH
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namespace rtm
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{
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//////////////////////////////////////////////////////////////////////////
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// Creates a quaternion from all 4 components.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE quatf RTM_SIMD_CALL quat_set(float x, float y, float z, float w) RTM_NO_EXCEPT
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{
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#if defined(RTM_SSE2_INTRINSICS)
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return _mm_set_ps(w, z, y, x);
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#elif defined(RTM_NEON_INTRINSICS)
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#if 1
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float32x2_t V0 = vcreate_f32(((uint64_t)*(const uint32_t*)&x) | ((uint64_t)(*(const uint32_t*)&y) << 32));
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float32x2_t V1 = vcreate_f32(((uint64_t)*(const uint32_t*)&z) | ((uint64_t)(*(const uint32_t*)&w) << 32));
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return vcombine_f32(V0, V1);
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#else
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float __attribute__((aligned(16))) data[4] = { x, y, z, w };
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return vld1q_f32(data);
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#endif
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#else
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return quatf{ x, y, z, w };
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#endif
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}
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//////////////////////////////////////////////////////////////////////////
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// Creates a quaternion from all 4 components.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE quatd RTM_SIMD_CALL quat_set(double x, double y, double z, double w) RTM_NO_EXCEPT
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{
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#if defined(RTM_SSE2_INTRINSICS)
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return quatd{ _mm_set_pd(y, x), _mm_set_pd(w, z) };
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#else
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return quatd{ x, y, z, w };
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#endif
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}
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namespace rtm_impl
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{
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//////////////////////////////////////////////////////////////////////////
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// This is a helper struct to allow a single consistent API between
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// various quaternion types when the semantics are identical but the return
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// type differs. Implicit coercion is used to return the desired value
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// at the call site.
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//////////////////////////////////////////////////////////////////////////
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struct quat_identity_impl
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{
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE RTM_SIMD_CALL operator quatd() const RTM_NO_EXCEPT
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{
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return quat_set(0.0, 0.0, 0.0, 1.0);
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}
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE RTM_SIMD_CALL operator quatf() const RTM_NO_EXCEPT
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{
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return quat_set(0.0F, 0.0F, 0.0F, 1.0F);
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}
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};
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}
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//////////////////////////////////////////////////////////////////////////
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// Returns the identity quaternion.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE constexpr rtm_impl::quat_identity_impl RTM_SIMD_CALL quat_identity() RTM_NO_EXCEPT
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{
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return rtm_impl::quat_identity_impl();
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}
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}
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RTM_IMPL_FILE_PRAGMA_POP
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