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Diffstat (limited to 'PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h')
| -rw-r--r-- | PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h | 3223 |
1 files changed, 0 insertions, 3223 deletions
diff --git a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h deleted file mode 100644 index cdb20fa..0000000 --- a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h +++ /dev/null @@ -1,3223 +0,0 @@ -// This code contains NVIDIA Confidential Information and is disclosed to you -// under a form of NVIDIA software license agreement provided separately to you. -// -// Notice -// NVIDIA Corporation and its licensors retain all intellectual property and -// proprietary rights in and to this software and related documentation and -// any modifications thereto. Any use, reproduction, disclosure, or -// distribution of this software and related documentation without an express -// license agreement from NVIDIA Corporation is strictly prohibited. -// -// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES -// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO -// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, -// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. -// -// Information and code furnished is believed to be accurate and reliable. -// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such -// information or for any infringement of patents or other rights of third parties that may -// result from its use. No license is granted by implication or otherwise under any patent -// or patent rights of NVIDIA Corporation. Details are subject to change without notice. -// This code supersedes and replaces all information previously supplied. -// NVIDIA Corporation products are not authorized for use as critical -// components in life support devices or systems without express written approval of -// NVIDIA Corporation. -// -// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved. -// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. -// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. - -#ifndef PSFOUNDATION_PSUNIXSSE2INLINEAOS_H -#define PSFOUNDATION_PSUNIXSSE2INLINEAOS_H - -#if !COMPILE_VECTOR_INTRINSICS -#error Vector intrinsics should not be included when using scalar implementation. -#endif - -#ifdef __SSE4_2__ -#include "smmintrin.h" -#endif - -#include "../../PsVecMathSSE.h" - -#define PX_FPCLASS_SNAN 0x0001 /* signaling NaN */ -#define PX_FPCLASS_QNAN 0x0002 /* quiet NaN */ -#define PX_FPCLASS_NINF 0x0004 /* negative infinity */ -#define PX_FPCLASS_PINF 0x0200 /* positive infinity */ - -PX_FORCE_INLINE __m128 m128_I2F(__m128i n) -{ - return _mm_castsi128_ps(n); -} -PX_FORCE_INLINE __m128i m128_F2I(__m128 n) -{ - return _mm_castps_si128(n); -} - -////////////////////////////////////////////////////////////////////// -//Test that Vec3V and FloatV are legal -////////////////////////////////////////////////////////////////////// - -#define FLOAT_COMPONENTS_EQUAL_THRESHOLD 0.01f -PX_FORCE_INLINE static bool isValidFloatV(const FloatV a) -{ - const PxF32 x = V4ReadX(a); - const PxF32 y = V4ReadY(a); - const PxF32 z = V4ReadZ(a); - const PxF32 w = V4ReadW(a); - - if ( - (PxAbs(x - y) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) && - (PxAbs(x - z) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) && - (PxAbs(x - w) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) - ) - { - return true; - } - - if ( - (PxAbs((x - y) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) && - (PxAbs((x - z) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) && - (PxAbs((x - w) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) - ) - { - return true; - } - - return false; -} - -PX_FORCE_INLINE bool isValidVec3V(const Vec3V a) -{ - PX_ALIGN(16, PxF32 f[4]); - V4StoreA(a, f); - return (f[3] == 0.0f); -} - -PX_FORCE_INLINE bool isFiniteLength(const Vec3V a) -{ - return !FAllEq(V4LengthSq(a), FZero()); -} - -PX_FORCE_INLINE bool isAligned16(void* a) -{ - return(0 == (size_t(a) & 0x0f)); -} - -//ASSERT_FINITELENGTH is deactivated because there is a lot of code that calls a simd normalisation function with zero length but then ignores the result. - -#if PX_DEBUG -#define ASSERT_ISVALIDVEC3V(a) PX_ASSERT(isValidVec3V(a)) -#define ASSERT_ISVALIDFLOATV(a) PX_ASSERT(isValidFloatV(a)) -#define ASSERT_ISALIGNED16(a) PX_ASSERT(isAligned16(reinterpret_cast<void*>(a))) -#define ASSERT_ISFINITELENGTH(a) //PX_ASSERT(isFiniteLength(a)) -#else -#define ASSERT_ISVALIDVEC3V(a) -#define ASSERT_ISVALIDFLOATV(a) -#define ASSERT_ISALIGNED16(a) -#define ASSERT_ISFINITELENGTH(a) -#endif - - -namespace internalUnitSSE2Simd -{ -PX_FORCE_INLINE PxU32 BAllTrue4_R(const BoolV a) -{ - const PxI32 moveMask = _mm_movemask_ps(a); - return PxU32(moveMask == 0xf); -} - -PX_FORCE_INLINE PxU32 BAllTrue3_R(const BoolV a) -{ - const PxI32 moveMask = _mm_movemask_ps(a); - return PxU32((moveMask & 0x7) == 0x7); -} - -PX_FORCE_INLINE PxU32 BAnyTrue4_R(const BoolV a) -{ - const PxI32 moveMask = _mm_movemask_ps(a); - return PxU32(moveMask != 0x0); -} - -PX_FORCE_INLINE PxU32 BAnyTrue3_R(const BoolV a) -{ - const PxI32 moveMask = _mm_movemask_ps(a); - return PxU32((moveMask & 0x7) != 0x0); -} - -PX_FORCE_INLINE PxU32 FiniteTestEq(const Vec4V a, const Vec4V b) -{ - // This is a bit of a bodge. - //_mm_comieq_ss returns 1 if either value is nan so we need to re-cast a and b with true encoded as a non-nan - // number. - // There must be a better way of doing this in sse. - const BoolV one = FOne(); - const BoolV zero = FZero(); - const BoolV a1 = V4Sel(a, one, zero); - const BoolV b1 = V4Sel(b, one, zero); - return ( - _mm_comieq_ss(a1, b1) && - _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(1, 1, 1, 1)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(1, 1, 1, 1))) && - _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(2, 2, 2, 2)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(2, 2, 2, 2))) && - _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 3, 3, 3)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(3, 3, 3, 3)))); -} - -#if !PX_EMSCRIPTEN -const PX_ALIGN(16, PxF32 gMaskXYZ[4]) = { physx::PxUnionCast<PxF32>(0xffffffff), physx::PxUnionCast<PxF32>(0xffffffff), - physx::PxUnionCast<PxF32>(0xffffffff), 0 }; -} -#else -// emscripten doesn't like the PxUnionCast data structure -// the following is what windows and xbox does -- using these for emscripten -const PX_ALIGN(16, PxU32 gMaskXYZ[4]) = { 0xffffffff, 0xffffffff, 0xffffffff, 0 }; } -#endif - -namespace _VecMathTests -{ -// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V' -PX_FORCE_INLINE Vec3V getInvalidVec3V() -{ - const float f = 1.0f; - return _mm_load1_ps(&f); -} - -PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_comieq_ss(a, b) != 0; -} - -PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b) -{ - return V3AllEq(a, b) != 0; -} - -PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b) -{ - return V4AllEq(a, b) != 0; -} - -PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b) -{ - return internalUnitSSE2Simd::BAllTrue4_R(VecI32V_IsEq(m128_F2I(a), m128_F2I(b))) != 0; -} - -PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b) -{ - return internalUnitSSE2Simd::BAllTrue4_R(V4IsEqU32(a, b)) != 0; -} - -PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b) -{ - BoolV c = m128_I2F(_mm_cmpeq_epi32(a, b)); - return internalUnitSSE2Simd::BAllTrue4_R(c) != 0; -} - -#define VECMATH_AOS_EPSILON (1e-3f) - -PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - const FloatV c = FSub(a, b); - const FloatV minError = FLoad(-VECMATH_AOS_EPSILON); - const FloatV maxError = FLoad(VECMATH_AOS_EPSILON); - return _mm_comigt_ss(c, minError) && _mm_comilt_ss(c, maxError); -} - -PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b) -{ - const Vec3V c = V3Sub(a, b); - const Vec3V minError = V3Load(-VECMATH_AOS_EPSILON); - const Vec3V maxError = V3Load(VECMATH_AOS_EPSILON); - return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError) && - _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError) && - _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError)); -} - -PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b) -{ - const Vec4V c = V4Sub(a, b); - const Vec4V minError = V4Load(-VECMATH_AOS_EPSILON); - const Vec4V maxError = V4Load(VECMATH_AOS_EPSILON); - return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError) && - _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError) && - _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError) && - _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), minError) && - _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), maxError)); -} -} - -///////////////////////////////////////////////////////////////////// -////FUNCTIONS USED ONLY FOR ASSERTS IN VECTORISED IMPLEMENTATIONS -///////////////////////////////////////////////////////////////////// - -PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a) -{ - PxF32 badNumber = - physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF); - const FloatV vBadNum = FLoad(badNumber); - const BoolV vMask = BAnd(vBadNum, a); - return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1; -} - -PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a) -{ - PxF32 badNumber = - physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF); - const Vec3V vBadNum = V3Load(badNumber); - const BoolV vMask = BAnd(BAnd(vBadNum, a), BTTTF()); - return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1; -} - -PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a) -{ - /*Vec4V a; - PX_ALIGN(16, PxF32 f[4]); - F32Array_Aligned_From_Vec4V(a, f); - return PxIsFinite(f[0]) - && PxIsFinite(f[1]) - && PxIsFinite(f[2]) - && PxIsFinite(f[3]);*/ - - PxF32 badNumber = - physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF); - const Vec4V vBadNum = V4Load(badNumber); - const BoolV vMask = BAnd(vBadNum, a); - - return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1; -} - -PX_FORCE_INLINE bool hasZeroElementinFloatV(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ? true : false; -} - -PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a) -{ - return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) || - _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) || - _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero())); -} - -PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a) -{ - return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) || - _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) || - _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()) || - _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3)), FZero())); -} - -///////////////////////////////////////////////////////////////////// -////VECTORISED FUNCTION IMPLEMENTATIONS -///////////////////////////////////////////////////////////////////// - -PX_FORCE_INLINE FloatV FLoad(const PxF32 f) -{ - return _mm_load1_ps(&f); -} - -PX_FORCE_INLINE Vec3V V3Load(const PxF32 f) -{ - return _mm_set_ps(0.0f, f, f, f); -} - -PX_FORCE_INLINE Vec4V V4Load(const PxF32 f) -{ - return _mm_load1_ps(&f); -} - -PX_FORCE_INLINE BoolV BLoad(const bool f) -{ - const PxU32 i = -PxI32(f); - return _mm_load1_ps(reinterpret_cast<const float*>(&i)); -} - -PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f) -{ - ASSERT_ISALIGNED16(const_cast<PxVec3*>(&f)); -#if !PX_EMSCRIPTEN - return _mm_and_ps(reinterpret_cast<const Vec3V&>(f), V4LoadA(internalUnitSSE2Simd::gMaskXYZ)); -#else - return _mm_and_ps((Vec3V&)f, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ); -#endif -} - -PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f) -{ - return _mm_set_ps(0.0f, f.z, f.y, f.x); -} - -PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f) -{ - ASSERT_ISALIGNED16(const_cast<PxVec3*>(&f)); - return _mm_set_ps(0.0f, f.z, f.y, f.x); -} - -PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f) -{ - ASSERT_ISALIGNED16(const_cast<PxF32*>(f)); -#if !PX_EMSCRIPTEN - return _mm_and_ps(V4LoadA(f), V4LoadA(internalUnitSSE2Simd::gMaskXYZ)); -#else - return _mm_and_ps((Vec3V&)*f, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ); -#endif -} - -PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const i) -{ - return _mm_set_ps(0.0f, i[2], i[1], i[0]); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v) -{ - return V4ClearW(v); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v) -{ - return v; -} - -PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f) -{ - ASSERT_ISVALIDVEC3V(f); - return f; // ok if it is implemented as the same type. -} - -PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f) -{ - return _mm_set_ps(0.0f, f.z, f.y, f.x); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f) -{ - return f; -} - -PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return Vec3V_From_Vec4V(Vec4V_From_FloatV(f)); -} - -PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f) -{ - ASSERT_ISVALIDVEC3V(f); - return Vec3V_From_Vec4V_WUndefined(Vec4V_From_FloatV(f)); -} - -PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m) -{ - return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2)); -} - -PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out) -{ - V3StoreU(m.col0, out.column0); - V3StoreU(m.col1, out.column1); - V3StoreU(m.col2, out.column2); -} - -PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f) -{ - ASSERT_ISALIGNED16(const_cast<PxF32*>(f)); - return _mm_load_ps(f); -} - -PX_FORCE_INLINE void V4StoreA(Vec4V a, PxF32* f) -{ - ASSERT_ISALIGNED16(f); - _mm_store_ps(f, a); -} - -PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f) -{ - _mm_storeu_ps(f, a); -} - -PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f) -{ - ASSERT_ISALIGNED16(f); - _mm_store_ps(reinterpret_cast<PxF32*>(f), a); -} - -PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u) -{ - ASSERT_ISALIGNED16(u); - _mm_store_ps(reinterpret_cast<float*>(u), uv); -} - -PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i) -{ - ASSERT_ISALIGNED16(i); - _mm_store_ps(reinterpret_cast<float*>(i), m128_I2F(iv)); -} - -PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f) -{ - return _mm_loadu_ps(f); -} - -PX_FORCE_INLINE BoolV BLoad(const bool* const f) -{ - const PX_ALIGN(16, PxI32) b[4] = { -PxI32(f[0]), -PxI32(f[1]), -PxI32(f[2]), -PxI32(f[3]) }; - return _mm_load_ps(reinterpret_cast<const float*>(&b)); -} - -PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f) -{ - ASSERT_ISVALIDFLOATV(a); - _mm_store_ss(f, a); -} - -PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f) -{ - ASSERT_ISALIGNED16(&f); - PX_ALIGN(16, PxF32) f2[4]; - _mm_store_ps(f2, a); - f = PxVec3(f2[0], f2[1], f2[2]); -} - -PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f) -{ - PX_ALIGN(16, PxF32) f2[4]; - _mm_store_ps(f2, a); - f = PxVec3(f2[0], f2[1], f2[2]); -} - -PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2) -{ - _mm_store_ss(reinterpret_cast<PxF32*>(b2), b); -} - -PX_FORCE_INLINE VecU32V U4Load(const PxU32 i) -{ - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&i)); -} - -PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i) -{ - return _mm_loadu_ps(reinterpret_cast<const PxF32*>(i)); -} - -PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i) -{ - ASSERT_ISALIGNED16(const_cast<PxU32*>(i)); - return _mm_load_ps(reinterpret_cast<const PxF32*>(i)); -} - -////////////////////////////////// -// FLOATV -////////////////////////////////// - -PX_FORCE_INLINE FloatV FZero() -{ - return FLoad(0.0f); -} - -PX_FORCE_INLINE FloatV FOne() -{ - return FLoad(1.0f); -} - -PX_FORCE_INLINE FloatV FHalf() -{ - return FLoad(0.5f); -} - -PX_FORCE_INLINE FloatV FEps() -{ - return FLoad(PX_EPS_REAL); -} - -PX_FORCE_INLINE FloatV FEps6() -{ - return FLoad(1e-6f); -} - -PX_FORCE_INLINE FloatV FMax() -{ - return FLoad(PX_MAX_REAL); -} - -PX_FORCE_INLINE FloatV FNegMax() -{ - return FLoad(-PX_MAX_REAL); -} - -PX_FORCE_INLINE FloatV IZero() -{ - const PxU32 zero = 0; - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&zero)); -} - -PX_FORCE_INLINE FloatV IOne() -{ - const PxU32 one = 1; - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&one)); -} - -PX_FORCE_INLINE FloatV ITwo() -{ - const PxU32 two = 2; - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&two)); -} - -PX_FORCE_INLINE FloatV IThree() -{ - const PxU32 three = 3; - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&three)); -} - -PX_FORCE_INLINE FloatV IFour() -{ - PxU32 four = 4; - return _mm_load1_ps(reinterpret_cast<const PxF32*>(&four)); -} - -PX_FORCE_INLINE FloatV FNeg(const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return _mm_sub_ps(_mm_setzero_ps(), f); -} - -PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); -/* - if(!isValidFloatV(a)) - { -assert(false); - } - if(!isValidFloatV(b)) - { -assert(false); - } -*/ - return _mm_add_ps(a, b); -} - -PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_sub_ps(a, b); -} - -PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_mul_ps(a, b); -} - -PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_div_ps(a, b); -} - -PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_mul_ps(a, _mm_rcp_ps(b)); -} - -PX_FORCE_INLINE FloatV FRecip(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_div_ps(FOne(), a); -} - -PX_FORCE_INLINE FloatV FRecipFast(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_rcp_ps(a); -} - -PX_FORCE_INLINE FloatV FRsqrt(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_div_ps(FOne(), _mm_sqrt_ps(a)); -} - -PX_FORCE_INLINE FloatV FSqrt(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_sqrt_ps(a); -} - -PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - return _mm_rsqrt_ps(a); -} - -PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - ASSERT_ISVALIDFLOATV(c); - return FAdd(FMul(a, b), c); -} - -PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - ASSERT_ISVALIDFLOATV(c); - return FSub(c, FMul(a, b)); -} - -PX_FORCE_INLINE FloatV FAbs(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - PX_ALIGN(16, const PxU32) absMask[4] = { 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF }; - return _mm_and_ps(a, _mm_load_ps(reinterpret_cast<const PxF32*>(absMask))); -} - -PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b) -{ - PX_ASSERT(_VecMathTests::allElementsEqualBoolV(c,BTTTT()) || - _VecMathTests::allElementsEqualBoolV(c,BFFFF())); - ASSERT_ISVALIDFLOATV(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a))); - return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)); -} - -PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_cmpgt_ps(a, b); -} - -PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_cmpge_ps(a, b); -} - -PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_cmpeq_ps(a, b); -} - -PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_max_ps(a, b); -} - -PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_min_ps(a, b); -} - -PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV) -{ - ASSERT_ISVALIDFLOATV(minV); - ASSERT_ISVALIDFLOATV(maxV); - return _mm_max_ps(_mm_min_ps(a, maxV), minV); -} - -PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_comigt_ss(a, b); -} - -PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_comige_ss(a, b); -} - -PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_comieq_ss(a, b); -} - -PX_FORCE_INLINE FloatV FRound(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); -#ifdef __SSE4_2__ - return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC); -#else - // return _mm_round_ps(a, 0x0); - const FloatV half = FLoad(0.5f); - const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31)); - const FloatV aRound = FSub(FAdd(a, half), signBit); - __m128i tmp = _mm_cvttps_epi32(aRound); - return _mm_cvtepi32_ps(tmp); -#endif -} - -PX_FORCE_INLINE FloatV FSin(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - - // Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI - const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const FloatV twoPi = V4LoadA(g_PXTwoPi.f); - const FloatV tmp = FMul(a, recipTwoPi); - const FloatV b = FRound(tmp); - const FloatV V1 = FNegScaleSub(twoPi, b, a); - - // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! - - // V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI) - const FloatV V2 = FMul(V1, V1); - const FloatV V3 = FMul(V2, V1); - const FloatV V5 = FMul(V3, V2); - const FloatV V7 = FMul(V5, V2); - const FloatV V9 = FMul(V7, V2); - const FloatV V11 = FMul(V9, V2); - const FloatV V13 = FMul(V11, V2); - const FloatV V15 = FMul(V13, V2); - const FloatV V17 = FMul(V15, V2); - const FloatV V19 = FMul(V17, V2); - const FloatV V21 = FMul(V19, V2); - const FloatV V23 = FMul(V21, V2); - - const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f); - const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f); - const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f); - - const FloatV S1 = V4GetY(sinCoefficients0); - const FloatV S2 = V4GetZ(sinCoefficients0); - const FloatV S3 = V4GetW(sinCoefficients0); - const FloatV S4 = V4GetX(sinCoefficients1); - const FloatV S5 = V4GetY(sinCoefficients1); - const FloatV S6 = V4GetZ(sinCoefficients1); - const FloatV S7 = V4GetW(sinCoefficients1); - const FloatV S8 = V4GetX(sinCoefficients2); - const FloatV S9 = V4GetY(sinCoefficients2); - const FloatV S10 = V4GetZ(sinCoefficients2); - const FloatV S11 = V4GetW(sinCoefficients2); - - FloatV Result; - Result = FScaleAdd(S1, V3, V1); - Result = FScaleAdd(S2, V5, Result); - Result = FScaleAdd(S3, V7, Result); - Result = FScaleAdd(S4, V9, Result); - Result = FScaleAdd(S5, V11, Result); - Result = FScaleAdd(S6, V13, Result); - Result = FScaleAdd(S7, V15, Result); - Result = FScaleAdd(S8, V17, Result); - Result = FScaleAdd(S9, V19, Result); - Result = FScaleAdd(S10, V21, Result); - Result = FScaleAdd(S11, V23, Result); - - return Result; -} - -PX_FORCE_INLINE FloatV FCos(const FloatV a) -{ - ASSERT_ISVALIDFLOATV(a); - - // Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI - const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const FloatV twoPi = V4LoadA(g_PXTwoPi.f); - const FloatV tmp = FMul(a, recipTwoPi); - const FloatV b = FRound(tmp); - const FloatV V1 = FNegScaleSub(twoPi, b, a); - - // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! - - // V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI) - const FloatV V2 = FMul(V1, V1); - const FloatV V4 = FMul(V2, V2); - const FloatV V6 = FMul(V4, V2); - const FloatV V8 = FMul(V4, V4); - const FloatV V10 = FMul(V6, V4); - const FloatV V12 = FMul(V6, V6); - const FloatV V14 = FMul(V8, V6); - const FloatV V16 = FMul(V8, V8); - const FloatV V18 = FMul(V10, V8); - const FloatV V20 = FMul(V10, V10); - const FloatV V22 = FMul(V12, V10); - - const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f); - const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f); - const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f); - - const FloatV C1 = V4GetY(cosCoefficients0); - const FloatV C2 = V4GetZ(cosCoefficients0); - const FloatV C3 = V4GetW(cosCoefficients0); - const FloatV C4 = V4GetX(cosCoefficients1); - const FloatV C5 = V4GetY(cosCoefficients1); - const FloatV C6 = V4GetZ(cosCoefficients1); - const FloatV C7 = V4GetW(cosCoefficients1); - const FloatV C8 = V4GetX(cosCoefficients2); - const FloatV C9 = V4GetY(cosCoefficients2); - const FloatV C10 = V4GetZ(cosCoefficients2); - const FloatV C11 = V4GetW(cosCoefficients2); - - FloatV Result; - Result = FScaleAdd(C1, V2, V4One()); - Result = FScaleAdd(C2, V4, Result); - Result = FScaleAdd(C3, V6, Result); - Result = FScaleAdd(C4, V8, Result); - Result = FScaleAdd(C5, V10, Result); - Result = FScaleAdd(C6, V12, Result); - Result = FScaleAdd(C7, V14, Result); - Result = FScaleAdd(C8, V16, Result); - Result = FScaleAdd(C9, V18, Result); - Result = FScaleAdd(C10, V20, Result); - Result = FScaleAdd(C11, V22, Result); - - return Result; -} - -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(min); - ASSERT_ISVALIDFLOATV(max); - const BoolV c = BOr(FIsGrtr(a, max), FIsGrtr(min, a)); - return !BAllEqFFFF(c); -} - -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(min); - ASSERT_ISVALIDFLOATV(max) - const BoolV c = BAnd(FIsGrtrOrEq(a, min), FIsGrtrOrEq(max, a)); - return BAllEqTTTT(c); -} - -PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(bounds); - return FOutOfBounds(a, FNeg(bounds), bounds); -} - -PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds) -{ - ASSERT_ISVALIDFLOATV(a); - ASSERT_ISVALIDFLOATV(bounds); - return FInBounds(a, FNeg(bounds), bounds); -} - -////////////////////////////////// -// VEC3V -////////////////////////////////// - -PX_FORCE_INLINE Vec3V V3Splat(const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - const __m128 zero = FZero(); - const __m128 fff0 = _mm_move_ss(f, zero); - return _mm_shuffle_ps(fff0, fff0, _MM_SHUFFLE(0, 1, 2, 3)); -} - -PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z) -{ - ASSERT_ISVALIDFLOATV(x); - ASSERT_ISVALIDFLOATV(y); - ASSERT_ISVALIDFLOATV(z); - // static on zero causes compiler crash on x64 debug_opt - const __m128 zero = FZero(); - const __m128 xy = _mm_move_ss(x, y); - const __m128 z0 = _mm_move_ss(zero, z); - - return _mm_shuffle_ps(xy, z0, _MM_SHUFFLE(1, 0, 0, 1)); -} - -PX_FORCE_INLINE Vec3V V3UnitX() -{ - const PX_ALIGN(16, PxF32) x[4] = { 1.0f, 0.0f, 0.0f, 0.0f }; - const __m128 x128 = _mm_load_ps(x); - return x128; -} - -PX_FORCE_INLINE Vec3V V3UnitY() -{ - const PX_ALIGN(16, PxF32) y[4] = { 0.0f, 1.0f, 0.0f, 0.0f }; - const __m128 y128 = _mm_load_ps(y); - return y128; -} - -PX_FORCE_INLINE Vec3V V3UnitZ() -{ - const PX_ALIGN(16, PxF32) z[4] = { 0.0f, 0.0f, 1.0f, 0.0f }; - const __m128 z128 = _mm_load_ps(z); - return z128; -} - -PX_FORCE_INLINE FloatV V3GetX(const Vec3V f) -{ - ASSERT_ISVALIDVEC3V(f); - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0)); -} - -PX_FORCE_INLINE FloatV V3GetY(const Vec3V f) -{ - ASSERT_ISVALIDVEC3V(f) - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1)); -} - -PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f) -{ - ASSERT_ISVALIDVEC3V(f); - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2)); -} - -PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f) -{ - ASSERT_ISVALIDVEC3V(v); - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BFTTT(), v, f); -} - -PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f) -{ - ASSERT_ISVALIDVEC3V(v); - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BTFTT(), v, f); -} - -PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f) -{ - ASSERT_ISVALIDVEC3V(v); - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BTTFT(), v, f); -} - -PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - ASSERT_ISVALIDVEC3V(c); - Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 0, 3, 0)); - return V3SetY(r, V3GetX(b)); -} - -PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - ASSERT_ISVALIDVEC3V(c) - Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 1, 3, 1)); - return V3SetY(r, V3GetY(b)); -} - -PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - ASSERT_ISVALIDVEC3V(c); - Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 2, 3, 2)); - return V3SetY(r, V3GetZ(b)); -} - -PX_FORCE_INLINE Vec3V V3Zero() -{ - return V3Load(0.0f); -} - -PX_FORCE_INLINE Vec3V V3Eps() -{ - return V3Load(PX_EPS_REAL); -} -PX_FORCE_INLINE Vec3V V3One() -{ - return V3Load(1.0f); -} - -PX_FORCE_INLINE Vec3V V3Neg(const Vec3V f) -{ - ASSERT_ISVALIDVEC3V(f); - return _mm_sub_ps(_mm_setzero_ps(), f); -} - -PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_add_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_sub_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_mul_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_mul_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_div_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return V4ClearW(_mm_div_ps(a, b)); -} - -PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDFLOATV(b); - return _mm_mul_ps(a, _mm_rcp_ps(b)); -} - -PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return V4ClearW(_mm_mul_ps(a, _mm_rcp_ps(b))); -} - -PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 zero = V3Zero(); - const __m128 tttf = BTTTF(); - const __m128 recipA = _mm_div_ps(V3One(), a); - return V4Sel(tttf, recipA, zero); -} - -PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 zero = V3Zero(); - const __m128 tttf = BTTTF(); - const __m128 recipA = _mm_rcp_ps(a); - return V4Sel(tttf, recipA, zero); -} - -PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 zero = V3Zero(); - const __m128 tttf = BTTTF(); - const __m128 recipA = _mm_div_ps(V3One(), _mm_sqrt_ps(a)); - return V4Sel(tttf, recipA, zero); -} - -PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 zero = V3Zero(); - const __m128 tttf = BTTTF(); - const __m128 recipA = _mm_rsqrt_ps(a); - return V4Sel(tttf, recipA, zero); -} - -PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDFLOATV(b); - ASSERT_ISVALIDVEC3V(c); - return V3Add(V3Scale(a, b), c); -} - -PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDFLOATV(b); - ASSERT_ISVALIDVEC3V(c); - return V3Sub(c, V3Scale(a, b)); -} - -PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - ASSERT_ISVALIDVEC3V(c); - return V3Add(V3Mul(a, b), c); -} - -PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - ASSERT_ISVALIDVEC3V(c); - return V3Sub(c, V3Mul(a, b)); -} - -PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return V3Max(a, V3Neg(a)); -} - -PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); -#ifdef __SSE4_2__ - return _mm_dp_ps(a, b, 0x7f); -#else - const __m128 t0 = _mm_mul_ps(a, b); // aw*bw | az*bz | ay*by | ax*bx - const __m128 t1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(1,0,3,2)); // ay*by | ax*bx | aw*bw | az*bz - const __m128 t2 = _mm_add_ps(t0, t1); // ay*by + aw*bw | ax*bx + az*bz | aw*bw + ay*by | az*bz + ax*bx - const __m128 t3 = _mm_shuffle_ps(t2, t2, _MM_SHUFFLE(2,3,0,1)); // ax*bx + az*bz | ay*by + aw*bw | az*bz + ax*bx | aw*bw + ay*by - return _mm_add_ps(t3, t2); // ax*bx + az*bz + ay*by + aw*bw - // ay*by + aw*bw + ax*bx + az*bz - // az*bz + ax*bx + aw*bw + ay*by - // aw*bw + ay*by + az*bz + ax*bx -#endif -} - -PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2)); -} - -PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - VecCrossV v; - v.mR1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - v.mL1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - return v; -} - -PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(b); - const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - return _mm_sub_ps(_mm_mul_ps(a.mL1, l2), _mm_mul_ps(a.mR1, r2)); -} - -PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const VecCrossV& b) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 r2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - return _mm_sub_ps(_mm_mul_ps(b.mR1, r2), _mm_mul_ps(b.mL1, l2)); -} - -PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const VecCrossV& b) -{ - return _mm_sub_ps(_mm_mul_ps(a.mL1, b.mR1), _mm_mul_ps(a.mR1, b.mL1)); -} - -PX_FORCE_INLINE FloatV V3Length(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_sqrt_ps(V3Dot(a, a)); -} - -PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return V3Dot(a, a); -} - -PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISFINITELENGTH(a); - return V3ScaleInv(a, _mm_sqrt_ps(V3Dot(a, a))); -} - -PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISFINITELENGTH(a); - return V3Scale(a, _mm_rsqrt_ps(V3Dot(a, a))); -} - -PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 eps = V3Eps(); - const __m128 length = V3Length(a); - const __m128 isGreaterThanZero = FIsGrtr(length, eps); - return V3Sel(isGreaterThanZero, V3ScaleInv(a, length), unsafeReturnValue); -} - -PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a))); - return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)); -} - -PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_cmpgt_ps(a, b); -} - -PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_cmpge_ps(a, b); -} - -PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_cmpeq_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_max_ps(a, b); -} - -PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return _mm_min_ps(a, b); -} - -PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); - const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); - const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); - - return _mm_max_ps(_mm_max_ps(shuf1, shuf2), shuf3); -} - -PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - - const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); - const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); - const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); - - return _mm_min_ps(_mm_min_ps(shuf1, shuf2), shuf3); -} - -// return (a >= 0.0f) ? 1.0f : -1.0f; -PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - const __m128 zero = V3Zero(); - const __m128 one = V3One(); - const __m128 none = V3Neg(one); - return V3Sel(V3IsGrtrOrEq(a, zero), one, none); -} - -PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV) -{ - ASSERT_ISVALIDVEC3V(maxV); - ASSERT_ISVALIDVEC3V(minV); - return V3Max(V3Min(a, maxV), minV); -} - -PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtr(a, b)); -} - -PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtrOrEq(a, b)); -} - -PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(b); - return internalUnitSSE2Simd::BAllTrue3_R(V4IsEq(a, b)); -} - -PX_FORCE_INLINE Vec3V V3Round(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); -#ifdef __SSE4_2__ - return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC); -#else - // return _mm_round_ps(a, 0x0); - const Vec3V half = V3Load(0.5f); - const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31)); - const Vec3V aRound = V3Sub(V3Add(a, half), signBit); - __m128i tmp = _mm_cvttps_epi32(aRound); - return _mm_cvtepi32_ps(tmp); -#endif -} - -PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - // Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI - const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const Vec4V twoPi = V4LoadA(g_PXTwoPi.f); - const Vec3V tmp = V3Scale(a, recipTwoPi); - const Vec3V b = V3Round(tmp); - const Vec3V V1 = V3NegScaleSub(b, twoPi, a); - - // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! - - // V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI) - const Vec3V V2 = V3Mul(V1, V1); - const Vec3V V3 = V3Mul(V2, V1); - const Vec3V V5 = V3Mul(V3, V2); - const Vec3V V7 = V3Mul(V5, V2); - const Vec3V V9 = V3Mul(V7, V2); - const Vec3V V11 = V3Mul(V9, V2); - const Vec3V V13 = V3Mul(V11, V2); - const Vec3V V15 = V3Mul(V13, V2); - const Vec3V V17 = V3Mul(V15, V2); - const Vec3V V19 = V3Mul(V17, V2); - const Vec3V V21 = V3Mul(V19, V2); - const Vec3V V23 = V3Mul(V21, V2); - - const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f); - const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f); - const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f); - - const FloatV S1 = V4GetY(sinCoefficients0); - const FloatV S2 = V4GetZ(sinCoefficients0); - const FloatV S3 = V4GetW(sinCoefficients0); - const FloatV S4 = V4GetX(sinCoefficients1); - const FloatV S5 = V4GetY(sinCoefficients1); - const FloatV S6 = V4GetZ(sinCoefficients1); - const FloatV S7 = V4GetW(sinCoefficients1); - const FloatV S8 = V4GetX(sinCoefficients2); - const FloatV S9 = V4GetY(sinCoefficients2); - const FloatV S10 = V4GetZ(sinCoefficients2); - const FloatV S11 = V4GetW(sinCoefficients2); - - Vec3V Result; - Result = V3ScaleAdd(V3, S1, V1); - Result = V3ScaleAdd(V5, S2, Result); - Result = V3ScaleAdd(V7, S3, Result); - Result = V3ScaleAdd(V9, S4, Result); - Result = V3ScaleAdd(V11, S5, Result); - Result = V3ScaleAdd(V13, S6, Result); - Result = V3ScaleAdd(V15, S7, Result); - Result = V3ScaleAdd(V17, S8, Result); - Result = V3ScaleAdd(V19, S9, Result); - Result = V3ScaleAdd(V21, S10, Result); - Result = V3ScaleAdd(V23, S11, Result); - - ASSERT_ISVALIDVEC3V(Result); - return Result; -} - -PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - - // Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI - const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const Vec4V twoPi = V4LoadA(g_PXTwoPi.f); - const Vec3V tmp = V3Scale(a, recipTwoPi); - const Vec3V b = V3Round(tmp); - const Vec3V V1 = V3NegScaleSub(b, twoPi, a); - - // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! - - // V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI) - const Vec3V V2 = V3Mul(V1, V1); - const Vec3V V4 = V3Mul(V2, V2); - const Vec3V V6 = V3Mul(V4, V2); - const Vec3V V8 = V3Mul(V4, V4); - const Vec3V V10 = V3Mul(V6, V4); - const Vec3V V12 = V3Mul(V6, V6); - const Vec3V V14 = V3Mul(V8, V6); - const Vec3V V16 = V3Mul(V8, V8); - const Vec3V V18 = V3Mul(V10, V8); - const Vec3V V20 = V3Mul(V10, V10); - const Vec3V V22 = V3Mul(V12, V10); - - const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f); - const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f); - const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f); - - const FloatV C1 = V4GetY(cosCoefficients0); - const FloatV C2 = V4GetZ(cosCoefficients0); - const FloatV C3 = V4GetW(cosCoefficients0); - const FloatV C4 = V4GetX(cosCoefficients1); - const FloatV C5 = V4GetY(cosCoefficients1); - const FloatV C6 = V4GetZ(cosCoefficients1); - const FloatV C7 = V4GetW(cosCoefficients1); - const FloatV C8 = V4GetX(cosCoefficients2); - const FloatV C9 = V4GetY(cosCoefficients2); - const FloatV C10 = V4GetZ(cosCoefficients2); - const FloatV C11 = V4GetW(cosCoefficients2); - - Vec3V Result; - Result = V3ScaleAdd(V2, C1, V3One()); - Result = V3ScaleAdd(V4, C2, Result); - Result = V3ScaleAdd(V6, C3, Result); - Result = V3ScaleAdd(V8, C4, Result); - Result = V3ScaleAdd(V10, C5, Result); - Result = V3ScaleAdd(V12, C6, Result); - Result = V3ScaleAdd(V14, C7, Result); - Result = V3ScaleAdd(V16, C8, Result); - Result = V3ScaleAdd(V18, C9, Result); - Result = V3ScaleAdd(V20, C10, Result); - Result = V3ScaleAdd(V22, C11, Result); - - ASSERT_ISVALIDVEC3V(Result); - return Result; -} - -PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 2, 2, 1)); -} - -PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 1, 0)); -} - -PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); -} - -PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); -} - -PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 2, 2)); -} - -PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 0, 1)); -} - -PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1) -{ - ASSERT_ISVALIDVEC3V(v0); - ASSERT_ISVALIDVEC3V(v1); - return _mm_shuffle_ps(v1, v0, _MM_SHUFFLE(3, 1, 2, 3)); -} - -PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1) -{ - ASSERT_ISVALIDVEC3V(v0); - ASSERT_ISVALIDVEC3V(v1); - return _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(3, 0, 3, 2)); -} - -PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1) -{ - ASSERT_ISVALIDVEC3V(v0); - ASSERT_ISVALIDVEC3V(v1); - // There must be a better way to do this. - Vec3V v2 = V3Zero(); - FloatV y1 = V3GetY(v1); - FloatV x0 = V3GetX(v0); - v2 = V3SetX(v2, y1); - return V3SetY(v2, x0); -} - -PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a) -{ - ASSERT_ISVALIDVEC3V(a); -#ifdef __SSE4_2__ - Vec3V r = _mm_hadd_ps(a, a); - r = _mm_hadd_ps(r, r); - return r; -#else - __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w - __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z - __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y - return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3); -#endif -} - -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(min); - ASSERT_ISVALIDVEC3V(max); - const BoolV c = BOr(V3IsGrtr(a, max), V3IsGrtr(min, a)); - return !BAllEqFFFF(c); -} - -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(min); - ASSERT_ISVALIDVEC3V(max); - const BoolV c = BAnd(V3IsGrtrOrEq(a, min), V3IsGrtrOrEq(max, a)); - return BAllEqTTTT(c); -} - -PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(bounds); - return V3OutOfBounds(a, V3Neg(bounds), bounds); -} - -PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds) -{ - ASSERT_ISVALIDVEC3V(a); - ASSERT_ISVALIDVEC3V(bounds) - return V3InBounds(a, V3Neg(bounds), bounds); -} - -PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2) -{ - ASSERT_ISVALIDVEC3V(col0); - ASSERT_ISVALIDVEC3V(col1); - ASSERT_ISVALIDVEC3V(col2); - - const Vec3V col3 = _mm_setzero_ps(); - Vec3V tmp0 = _mm_unpacklo_ps(col0, col1); - Vec3V tmp2 = _mm_unpacklo_ps(col2, col3); - Vec3V tmp1 = _mm_unpackhi_ps(col0, col1); - Vec3V tmp3 = _mm_unpackhi_ps(col2, col3); - col0 = _mm_movelh_ps(tmp0, tmp2); - col1 = _mm_movehl_ps(tmp2, tmp0); - col2 = _mm_movelh_ps(tmp1, tmp3); -} - -////////////////////////////////// -// VEC4V -////////////////////////////////// - -PX_FORCE_INLINE Vec4V V4Splat(const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - // return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0,0,0,0)); - return f; -} - -PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray) -{ - ASSERT_ISVALIDFLOATV(floatVArray[0]); - ASSERT_ISVALIDFLOATV(floatVArray[1]); - ASSERT_ISVALIDFLOATV(floatVArray[2]); - ASSERT_ISVALIDFLOATV(floatVArray[3]); - const __m128 xw = _mm_move_ss(floatVArray[1], floatVArray[0]); // y, y, y, x - const __m128 yz = _mm_move_ss(floatVArray[2], floatVArray[3]); // z, z, z, w - return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0)); -} - -PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w) -{ - ASSERT_ISVALIDFLOATV(x); - ASSERT_ISVALIDFLOATV(y); - ASSERT_ISVALIDFLOATV(z); - ASSERT_ISVALIDFLOATV(w); - const __m128 xw = _mm_move_ss(y, x); // y, y, y, x - const __m128 yz = _mm_move_ss(z, w); // z, z, z, w - return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0)); -} - -PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - const Vec4V xz = _mm_unpackhi_ps(x, z); - const Vec4V yw = _mm_unpackhi_ps(y, w); - return _mm_unpackhi_ps(xz, yw); -} - -PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - const Vec4V xz = _mm_unpackhi_ps(x, z); - const Vec4V yw = _mm_unpackhi_ps(y, w); - return _mm_unpacklo_ps(xz, yw); -} - -PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - const Vec4V xz = _mm_unpacklo_ps(x, z); - const Vec4V yw = _mm_unpacklo_ps(y, w); - return _mm_unpackhi_ps(xz, yw); -} - -PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w) -{ - const Vec4V xz = _mm_unpacklo_ps(x, z); - const Vec4V yw = _mm_unpacklo_ps(y, w); - return _mm_unpacklo_ps(xz, yw); -} - -PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b) -{ - return _mm_unpacklo_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b) -{ - return _mm_unpackhi_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4UnitW() -{ - const PX_ALIGN(16, PxF32) w[4] = { 0.0f, 0.0f, 0.0f, 1.0f }; - const __m128 w128 = _mm_load_ps(w); - return w128; -} - -PX_FORCE_INLINE Vec4V V4UnitX() -{ - const PX_ALIGN(16, PxF32) x[4] = { 1.0f, 0.0f, 0.0f, 0.0f }; - const __m128 x128 = _mm_load_ps(x); - return x128; -} - -PX_FORCE_INLINE Vec4V V4UnitY() -{ - const PX_ALIGN(16, PxF32) y[4] = { 0.0f, 1.0f, 0.0f, 0.0f }; - const __m128 y128 = _mm_load_ps(y); - return y128; -} - -PX_FORCE_INLINE Vec4V V4UnitZ() -{ - const PX_ALIGN(16, PxF32) z[4] = { 0.0f, 0.0f, 1.0f, 0.0f }; - const __m128 z128 = _mm_load_ps(z); - return z128; -} - -PX_FORCE_INLINE FloatV V4GetW(const Vec4V f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3)); -} - -PX_FORCE_INLINE FloatV V4GetX(const Vec4V f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0)); -} - -PX_FORCE_INLINE FloatV V4GetY(const Vec4V f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1)); -} - -PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2)); -} - -PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BTTTF(), v, f); -} - -PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BFTTT(), v, f); -} - -PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BTFTT(), v, f); -} - -PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f) -{ - ASSERT_ISVALIDFLOATV(f); - return V4Sel(BTTFT(), v, f); -} - -PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v) -{ -#if !PX_EMSCRIPTEN - return _mm_and_ps(v, V4LoadA(internalUnitSSE2Simd::gMaskXYZ)); -#else - return _mm_and_ps(v, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ); -#endif -} - -PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V a) -{ - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 0, 1)); -} - -PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V a) -{ - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 0, 2, 0)); -} - -PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V a) -{ - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 3, 1)); -} - -PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V a) -{ - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); -} - -template <PxU8 x, PxU8 y, PxU8 z, PxU8 w> -PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a) -{ - return _mm_shuffle_ps(a, a, _MM_SHUFFLE(w, z, y, x)); -} - -PX_FORCE_INLINE Vec4V V4Zero() -{ - return V4Load(0.0f); -} - -PX_FORCE_INLINE Vec4V V4One() -{ - return V4Load(1.0f); -} - -PX_FORCE_INLINE Vec4V V4Eps() -{ - return V4Load(PX_EPS_REAL); -} - -PX_FORCE_INLINE Vec4V V4Neg(const Vec4V f) -{ - return _mm_sub_ps(_mm_setzero_ps(), f); -} - -PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b) -{ - return _mm_add_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b) -{ - return _mm_sub_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b) -{ - return _mm_mul_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b) -{ - return _mm_mul_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(b); - return _mm_div_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b) -{ - return _mm_div_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b) -{ - ASSERT_ISVALIDFLOATV(b); - return _mm_mul_ps(a, _mm_rcp_ps(b)); -} - -PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b) -{ - return _mm_mul_ps(a, _mm_rcp_ps(b)); -} - -PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a) -{ - return _mm_div_ps(V4One(), a); -} - -PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a) -{ - return _mm_rcp_ps(a); -} - -PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a) -{ - return _mm_div_ps(V4One(), _mm_sqrt_ps(a)); -} - -PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a) -{ - return _mm_rsqrt_ps(a); -} - -PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a) -{ - return _mm_sqrt_ps(a); -} - -PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c) -{ - ASSERT_ISVALIDFLOATV(b); - return V4Add(V4Scale(a, b), c); -} - -PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c) -{ - ASSERT_ISVALIDFLOATV(b); - return V4Sub(c, V4Scale(a, b)); -} - -PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c) -{ - return V4Add(V4Mul(a, b), c); -} - -PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c) -{ - return V4Sub(c, V4Mul(a, b)); -} - -PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a) -{ - return V4Max(a, V4Neg(a)); -} - -PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a) -{ -#ifdef __SSE4_2__ - Vec4V r = _mm_hadd_ps(a, a); - r = _mm_hadd_ps(r, r); - return r; -#else - const Vec4V xy = V4UnpackXY(a, a); // x,x,y,y - const Vec4V zw = V4UnpackZW(a, a); // z,z,w,w - const Vec4V xz_yw = V4Add(xy, zw); // x+z,x+z,y+w,y+w - const FloatV xz = V4GetX(xz_yw); // x+z - const FloatV yw = V4GetZ(xz_yw); // y+w - return FAdd(xz, yw); // sum -#endif -} - -PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b) -{ -#ifdef __SSE4_2__ - return _mm_dp_ps(a, b, 0xff); -#else - const __m128 dot1 = _mm_mul_ps(a, b); // x,y,z,w - const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 1, 0, 3)); // w,x,y,z - const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 0, 3, 2)); // z,w,x,y - const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 3, 2, 1)); // y,z,w,x - return _mm_add_ps(_mm_add_ps(shuf2, shuf3), _mm_add_ps(dot1, shuf1)); -#endif -} - -PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b) -{ -#ifdef __SSE4_2__ - return _mm_dp_ps(a, b, 0x7f); -#else - const __m128 dot1 = _mm_mul_ps(a, b); // w,z,y,x - const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w - const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z - const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y - return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3); -#endif -} - -PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b) -{ - const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w - const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w - return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2)); -} - -PX_FORCE_INLINE FloatV V4Length(const Vec4V a) -{ - return _mm_sqrt_ps(V4Dot(a, a)); -} - -PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a) -{ - return V4Dot(a, a); -} - -PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a) -{ - ASSERT_ISFINITELENGTH(a); - return V4ScaleInv(a, _mm_sqrt_ps(V4Dot(a, a))); -} - -PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a) -{ - ASSERT_ISFINITELENGTH(a); - return V4ScaleInvFast(a, _mm_sqrt_ps(V4Dot(a, a))); -} - -PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec3V unsafeReturnValue) -{ - const __m128 eps = V3Eps(); - const __m128 length = V4Length(a); - const __m128 isGreaterThanZero = V4IsGrtr(length, eps); - return V4Sel(isGreaterThanZero, V4ScaleInv(a, length), unsafeReturnValue); -} - -PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b) -{ - return m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b))); -} - -PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b) -{ - return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)); -} - -PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b) -{ - return _mm_cmpgt_ps(a, b); -} - -PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b) -{ - return _mm_cmpge_ps(a, b); -} - -PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b) -{ - return _mm_cmpeq_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b) -{ - return _mm_max_ps(a, b); -} - -PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b) -{ - return _mm_min_ps(a, b); -} - -PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a) -{ - const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3)); - const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2)); - const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1)); - - return _mm_max_ps(_mm_max_ps(a, shuf1), _mm_max_ps(shuf2, shuf3)); -} - -PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a) -{ - const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3)); - const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2)); - const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1)); - - return _mm_min_ps(_mm_min_ps(a, shuf1), _mm_min_ps(shuf2, shuf3)); -} - -PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV) -{ - return V4Max(V4Min(a, maxV), minV); -} - -PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b) -{ - return internalUnitSSE2Simd::BAllTrue4_R(V4IsGrtr(a, b)); -} - -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b) -{ - return internalUnitSSE2Simd::BAllTrue4_R(V4IsGrtrOrEq(a, b)); -} - -PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b) -{ - return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtrOrEq(a, b)); -} - -PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b) -{ - return internalUnitSSE2Simd::BAllTrue4_R(V4IsEq(a, b)); -} - -PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b) -{ - return internalUnitSSE2Simd::BAnyTrue3_R(V4IsGrtr(a, b)); -} - -PX_FORCE_INLINE Vec4V V4Round(const Vec4V a) -{ -#ifdef __SSE4_2__ - return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC); -#else - // return _mm_round_ps(a, 0x0); - const Vec4V half = V4Load(0.5f); - const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31)); - const Vec4V aRound = V4Sub(V4Add(a, half), signBit); - __m128i tmp = _mm_cvttps_epi32(aRound); - return _mm_cvtepi32_ps(tmp); -#endif -} - -PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a) -{ - const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const Vec4V twoPi = V4LoadA(g_PXTwoPi.f); - const Vec4V tmp = V4Mul(a, recipTwoPi); - const Vec4V b = V4Round(tmp); - const Vec4V V1 = V4NegMulSub(twoPi, b, a); - - // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! - - // V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI) - const Vec4V V2 = V4Mul(V1, V1); - const Vec4V V3 = V4Mul(V2, V1); - const Vec4V V5 = V4Mul(V3, V2); - const Vec4V V7 = V4Mul(V5, V2); - const Vec4V V9 = V4Mul(V7, V2); - const Vec4V V11 = V4Mul(V9, V2); - const Vec4V V13 = V4Mul(V11, V2); - const Vec4V V15 = V4Mul(V13, V2); - const Vec4V V17 = V4Mul(V15, V2); - const Vec4V V19 = V4Mul(V17, V2); - const Vec4V V21 = V4Mul(V19, V2); - const Vec4V V23 = V4Mul(V21, V2); - - const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f); - const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f); - const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f); - - const FloatV S1 = V4GetY(sinCoefficients0); - const FloatV S2 = V4GetZ(sinCoefficients0); - const FloatV S3 = V4GetW(sinCoefficients0); - const FloatV S4 = V4GetX(sinCoefficients1); - const FloatV S5 = V4GetY(sinCoefficients1); - const FloatV S6 = V4GetZ(sinCoefficients1); - const FloatV S7 = V4GetW(sinCoefficients1); - const FloatV S8 = V4GetX(sinCoefficients2); - const FloatV S9 = V4GetY(sinCoefficients2); - const FloatV S10 = V4GetZ(sinCoefficients2); - const FloatV S11 = V4GetW(sinCoefficients2); - - Vec4V Result; - Result = V4MulAdd(S1, V3, V1); - Result = V4MulAdd(S2, V5, Result); - Result = V4MulAdd(S3, V7, Result); - Result = V4MulAdd(S4, V9, Result); - Result = V4MulAdd(S5, V11, Result); - Result = V4MulAdd(S6, V13, Result); - Result = V4MulAdd(S7, V15, Result); - Result = V4MulAdd(S8, V17, Result); - Result = V4MulAdd(S9, V19, Result); - Result = V4MulAdd(S10, V21, Result); - Result = V4MulAdd(S11, V23, Result); - - return Result; -} - -PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a) -{ - const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f); - const Vec4V twoPi = V4LoadA(g_PXTwoPi.f); - const Vec4V tmp = V4Mul(a, recipTwoPi); - const Vec4V b = V4Round(tmp); - const Vec4V V1 = V4NegMulSub(twoPi, b, a); - - // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! - - // V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI) - const Vec4V V2 = V4Mul(V1, V1); - const Vec4V V4 = V4Mul(V2, V2); - const Vec4V V6 = V4Mul(V4, V2); - const Vec4V V8 = V4Mul(V4, V4); - const Vec4V V10 = V4Mul(V6, V4); - const Vec4V V12 = V4Mul(V6, V6); - const Vec4V V14 = V4Mul(V8, V6); - const Vec4V V16 = V4Mul(V8, V8); - const Vec4V V18 = V4Mul(V10, V8); - const Vec4V V20 = V4Mul(V10, V10); - const Vec4V V22 = V4Mul(V12, V10); - - const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f); - const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f); - const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f); - - const FloatV C1 = V4GetY(cosCoefficients0); - const FloatV C2 = V4GetZ(cosCoefficients0); - const FloatV C3 = V4GetW(cosCoefficients0); - const FloatV C4 = V4GetX(cosCoefficients1); - const FloatV C5 = V4GetY(cosCoefficients1); - const FloatV C6 = V4GetZ(cosCoefficients1); - const FloatV C7 = V4GetW(cosCoefficients1); - const FloatV C8 = V4GetX(cosCoefficients2); - const FloatV C9 = V4GetY(cosCoefficients2); - const FloatV C10 = V4GetZ(cosCoefficients2); - const FloatV C11 = V4GetW(cosCoefficients2); - - Vec4V Result; - Result = V4MulAdd(C1, V2, V4One()); - Result = V4MulAdd(C2, V4, Result); - Result = V4MulAdd(C3, V6, Result); - Result = V4MulAdd(C4, V8, Result); - Result = V4MulAdd(C5, V10, Result); - Result = V4MulAdd(C6, V12, Result); - Result = V4MulAdd(C7, V14, Result); - Result = V4MulAdd(C8, V16, Result); - Result = V4MulAdd(C9, V18, Result); - Result = V4MulAdd(C10, V20, Result); - Result = V4MulAdd(C11, V22, Result); - - return Result; -} - -PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3) -{ - Vec4V tmp0 = _mm_unpacklo_ps(col0, col1); - Vec4V tmp2 = _mm_unpacklo_ps(col2, col3); - Vec4V tmp1 = _mm_unpackhi_ps(col0, col1); - Vec4V tmp3 = _mm_unpackhi_ps(col2, col3); - col0 = _mm_movelh_ps(tmp0, tmp2); - col1 = _mm_movehl_ps(tmp2, tmp0); - col2 = _mm_movelh_ps(tmp1, tmp3); - col3 = _mm_movehl_ps(tmp3, tmp1); -} - -////////////////////////////////// -// BoolV -////////////////////////////////// - -PX_FORCE_INLINE BoolV BFFFF() -{ - return _mm_setzero_ps(); -} - -PX_FORCE_INLINE BoolV BFFFT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF}; - const __m128 ffft=_mm_load_ps((float*)&f); - return ffft;*/ - return m128_I2F(_mm_set_epi32(-1, 0, 0, 0)); -} - -PX_FORCE_INLINE BoolV BFFTF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0}; - const __m128 fftf=_mm_load_ps((float*)&f); - return fftf;*/ - return m128_I2F(_mm_set_epi32(0, -1, 0, 0)); -} - -PX_FORCE_INLINE BoolV BFFTT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0xFFFFFFFF}; - const __m128 fftt=_mm_load_ps((float*)&f); - return fftt;*/ - return m128_I2F(_mm_set_epi32(-1, -1, 0, 0)); -} - -PX_FORCE_INLINE BoolV BFTFF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0}; - const __m128 ftff=_mm_load_ps((float*)&f); - return ftff;*/ - return m128_I2F(_mm_set_epi32(0, 0, -1, 0)); -} - -PX_FORCE_INLINE BoolV BFTFT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0xFFFFFFFF}; - const __m128 ftft=_mm_load_ps((float*)&f); - return ftft;*/ - return m128_I2F(_mm_set_epi32(-1, 0, -1, 0)); -} - -PX_FORCE_INLINE BoolV BFTTF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0}; - const __m128 fttf=_mm_load_ps((float*)&f); - return fttf;*/ - return m128_I2F(_mm_set_epi32(0, -1, -1, 0)); -} - -PX_FORCE_INLINE BoolV BFTTT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF}; - const __m128 fttt=_mm_load_ps((float*)&f); - return fttt;*/ - return m128_I2F(_mm_set_epi32(-1, -1, -1, 0)); -} - -PX_FORCE_INLINE BoolV BTFFF() -{ - // const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0}; - // const __m128 tfff=_mm_load_ps((float*)&f); - // return tfff; - return m128_I2F(_mm_set_epi32(0, 0, 0, -1)); -} - -PX_FORCE_INLINE BoolV BTFFT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0xFFFFFFFF}; - const __m128 tfft=_mm_load_ps((float*)&f); - return tfft;*/ - return m128_I2F(_mm_set_epi32(-1, 0, 0, -1)); -} - -PX_FORCE_INLINE BoolV BTFTF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0}; - const __m128 tftf=_mm_load_ps((float*)&f); - return tftf;*/ - return m128_I2F(_mm_set_epi32(0, -1, 0, -1)); -} - -PX_FORCE_INLINE BoolV BTFTT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0xFFFFFFFF}; - const __m128 tftt=_mm_load_ps((float*)&f); - return tftt;*/ - return m128_I2F(_mm_set_epi32(-1, -1, 0, -1)); -} - -PX_FORCE_INLINE BoolV BTTFF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0}; - const __m128 ttff=_mm_load_ps((float*)&f); - return ttff;*/ - return m128_I2F(_mm_set_epi32(0, 0, -1, -1)); -} - -PX_FORCE_INLINE BoolV BTTFT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0xFFFFFFFF}; - const __m128 ttft=_mm_load_ps((float*)&f); - return ttft;*/ - return m128_I2F(_mm_set_epi32(-1, 0, -1, -1)); -} - -PX_FORCE_INLINE BoolV BTTTF() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0}; - const __m128 tttf=_mm_load_ps((float*)&f); - return tttf;*/ - return m128_I2F(_mm_set_epi32(0, -1, -1, -1)); -} - -PX_FORCE_INLINE BoolV BTTTT() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF}; - const __m128 tttt=_mm_load_ps((float*)&f); - return tttt;*/ - return m128_I2F(_mm_set_epi32(-1, -1, -1, -1)); -} - -PX_FORCE_INLINE BoolV BXMask() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0}; - const __m128 tfff=_mm_load_ps((float*)&f); - return tfff;*/ - return m128_I2F(_mm_set_epi32(0, 0, 0, -1)); -} - -PX_FORCE_INLINE BoolV BYMask() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0}; - const __m128 ftff=_mm_load_ps((float*)&f); - return ftff;*/ - return m128_I2F(_mm_set_epi32(0, 0, -1, 0)); -} - -PX_FORCE_INLINE BoolV BZMask() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0}; - const __m128 fftf=_mm_load_ps((float*)&f); - return fftf;*/ - return m128_I2F(_mm_set_epi32(0, -1, 0, 0)); -} - -PX_FORCE_INLINE BoolV BWMask() -{ - /*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF}; - const __m128 ffft=_mm_load_ps((float*)&f); - return ffft;*/ - return m128_I2F(_mm_set_epi32(-1, 0, 0, 0)); -} - -PX_FORCE_INLINE BoolV BGetX(const BoolV f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0)); -} - -PX_FORCE_INLINE BoolV BGetY(const BoolV f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1)); -} - -PX_FORCE_INLINE BoolV BGetZ(const BoolV f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2)); -} - -PX_FORCE_INLINE BoolV BGetW(const BoolV f) -{ - return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3)); -} - -PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f) -{ - return V4Sel(BFTTT(), v, f); -} - -PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f) -{ - return V4Sel(BTFTT(), v, f); -} - -PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f) -{ - return V4Sel(BTTFT(), v, f); -} - -PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f) -{ - return V4Sel(BTTTF(), v, f); -} - -PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b) -{ - return _mm_and_ps(a, b); -} - -PX_FORCE_INLINE BoolV BNot(const BoolV a) -{ - const BoolV bAllTrue(BTTTT()); - return _mm_xor_ps(a, bAllTrue); -} - -PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b) -{ - return _mm_andnot_ps(b, a); -} - -PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b) -{ - return _mm_or_ps(a, b); -} - -PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a) -{ - const BoolV bTmp = - _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3))); - return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)), - _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1))); -} - -PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a) -{ - const BoolV bTmp = - _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3))); - return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)), - _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1))); -} - -PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a) -{ - const BoolV bTmp = - _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2))); - return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)), - _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1))); -} - -PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a) -{ - const BoolV bTmp = - _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2))); - return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)), - _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1))); -} - -PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b) -{ - const BoolV bTest = m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b))); - return internalUnitSSE2Simd::BAllTrue4_R(bTest); -} - -PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a) -{ - return PxU32(_mm_movemask_ps(a)==15); -} - -PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a) -{ - return PxU32(_mm_movemask_ps(a)==0); -} - -PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a) -{ - return PxU32(_mm_movemask_ps(a)); -} - -////////////////////////////////// -// MAT33V -////////////////////////////////// - -PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b) -{ - const FloatV x = V3GetX(b); - const FloatV y = V3GetY(b); - const FloatV z = V3GetZ(b); - const Vec3V v0 = V3Scale(a.col0, x); - const Vec3V v1 = V3Scale(a.col1, y); - const Vec3V v2 = V3Scale(a.col2, z); - const Vec3V v0PlusV1 = V3Add(v0, v1); - return V3Add(v0PlusV1, v2); -} - -PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b) -{ - const FloatV x = V3Dot(a.col0, b); - const FloatV y = V3Dot(a.col1, b); - const FloatV z = V3Dot(a.col2, b); - return V3Merge(x, y, z); -} - -PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c) -{ - const FloatV x = V3GetX(b); - const FloatV y = V3GetY(b); - const FloatV z = V3GetZ(b); - Vec3V result = V3ScaleAdd(A.col0, x, c); - result = V3ScaleAdd(A.col1, y, result); - return V3ScaleAdd(A.col2, z, result); -} - -PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b) -{ - return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b)); -} - -PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a) -{ - const BoolV tfft = BTFFT(); - const BoolV tttf = BTTTF(); - const FloatV zero = FZero(); - const Vec3V cross01 = V3Cross(a.col0, a.col1); - const Vec3V cross12 = V3Cross(a.col1, a.col2); - const Vec3V cross20 = V3Cross(a.col2, a.col0); - const FloatV dot = V3Dot(cross01, a.col2); - const FloatV invDet = _mm_rcp_ps(dot); - const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01); - const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01); - Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20); - colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0)); - const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2)); - const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0)); - const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd)); - const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0)); - const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0)); - const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd)); - - return Mat33V(_mm_mul_ps(colInv0, invDet), _mm_mul_ps(colInv1, invDet), _mm_mul_ps(colInv2, invDet)); -} - -PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a) -{ - return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)), - V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)), - V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2))); -} - -PX_FORCE_INLINE Mat33V M33Identity() -{ - return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ()); -} - -PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b) -{ - return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2)); -} - -PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a) -{ - return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2)); -} - -PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a) -{ - return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2)); -} - -PX_FORCE_INLINE Mat33V PromoteVec3V(const Vec3V v) -{ - const BoolV bTFFF = BTFFF(); - const BoolV bFTFF = BFTFF(); - const BoolV bFFTF = BTFTF(); - - const Vec3V zero = V3Zero(); - - return Mat33V(V3Sel(bTFFF, v, zero), V3Sel(bFTFF, v, zero), V3Sel(bFFTF, v, zero)); -} - -PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d) -{ - const FloatV x = V3Mul(V3UnitX(), d); - const FloatV y = V3Mul(V3UnitY(), d); - const FloatV z = V3Mul(V3UnitZ(), d); - return Mat33V(x, y, z); -} - -////////////////////////////////// -// MAT34V -////////////////////////////////// - -PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b) -{ - const FloatV x = V3GetX(b); - const FloatV y = V3GetY(b); - const FloatV z = V3GetZ(b); - const Vec3V v0 = V3Scale(a.col0, x); - const Vec3V v1 = V3Scale(a.col1, y); - const Vec3V v2 = V3Scale(a.col2, z); - const Vec3V v0PlusV1 = V3Add(v0, v1); - const Vec3V v0PlusV1Plusv2 = V3Add(v0PlusV1, v2); - return V3Add(v0PlusV1Plusv2, a.col3); -} - -PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b) -{ - const FloatV x = V3GetX(b); - const FloatV y = V3GetY(b); - const FloatV z = V3GetZ(b); - const Vec3V v0 = V3Scale(a.col0, x); - const Vec3V v1 = V3Scale(a.col1, y); - const Vec3V v2 = V3Scale(a.col2, z); - const Vec3V v0PlusV1 = V3Add(v0, v1); - return V3Add(v0PlusV1, v2); -} - -PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b) -{ - const FloatV x = V3Dot(a.col0, b); - const FloatV y = V3Dot(a.col1, b); - const FloatV z = V3Dot(a.col2, b); - return V3Merge(x, y, z); -} - -PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b) -{ - return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3)); -} - -PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b) -{ - return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2)); -} - -PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b) -{ - return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2)); -} - -PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b) -{ - return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3)); -} - -PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a) -{ - return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)), - V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)), - V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2))); -} - -////////////////////////////////// -// MAT44V -////////////////////////////////// - -PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b) -{ - const FloatV x = V4GetX(b); - const FloatV y = V4GetY(b); - const FloatV z = V4GetZ(b); - const FloatV w = V4GetW(b); - - const Vec4V v0 = V4Scale(a.col0, x); - const Vec4V v1 = V4Scale(a.col1, y); - const Vec4V v2 = V4Scale(a.col2, z); - const Vec4V v3 = V4Scale(a.col3, w); - const Vec4V v0PlusV1 = V4Add(v0, v1); - const Vec4V v0PlusV1Plusv2 = V4Add(v0PlusV1, v2); - return V4Add(v0PlusV1Plusv2, v3); -} - -PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b) -{ - PX_ALIGN(16, FloatV) dotProdArray[4] = { V4Dot(a.col0, b), V4Dot(a.col1, b), V4Dot(a.col2, b), V4Dot(a.col3, b) }; - return V4Merge(dotProdArray); -} - -PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b) -{ - return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3)); -} - -PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b) -{ - return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3)); -} - -PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a) -{ - const Vec4V v0 = _mm_unpacklo_ps(a.col0, a.col2); - const Vec4V v1 = _mm_unpackhi_ps(a.col0, a.col2); - const Vec4V v2 = _mm_unpacklo_ps(a.col1, a.col3); - const Vec4V v3 = _mm_unpackhi_ps(a.col1, a.col3); - return Mat44V(_mm_unpacklo_ps(v0, v2), _mm_unpackhi_ps(v0, v2), _mm_unpacklo_ps(v1, v3), _mm_unpackhi_ps(v1, v3)); -} - -PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a) -{ - __m128 minor0, minor1, minor2, minor3; - __m128 row0, row1, row2, row3; - __m128 det, tmp1; - - tmp1 = V4Zero(); - row1 = V4Zero(); - row3 = V4Zero(); - - row0 = a.col0; - row1 = _mm_shuffle_ps(a.col1, a.col1, _MM_SHUFFLE(1, 0, 3, 2)); - row2 = a.col2; - row3 = _mm_shuffle_ps(a.col3, a.col3, _MM_SHUFFLE(1, 0, 3, 2)); - - tmp1 = _mm_mul_ps(row2, row3); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - minor0 = _mm_mul_ps(row1, tmp1); - minor1 = _mm_mul_ps(row0, tmp1); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0); - minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1); - minor1 = _mm_shuffle_ps(minor1, minor1, 0x4E); - - tmp1 = _mm_mul_ps(row1, row2); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0); - minor3 = _mm_mul_ps(row0, tmp1); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1)); - minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3); - minor3 = _mm_shuffle_ps(minor3, minor3, 0x4E); - - tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, 0x4E), row3); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - row2 = _mm_shuffle_ps(row2, row2, 0x4E); - minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0); - minor2 = _mm_mul_ps(row0, tmp1); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1)); - minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2); - minor2 = _mm_shuffle_ps(minor2, minor2, 0x4E); - - tmp1 = _mm_mul_ps(row0, row1); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2); - minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2); - minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1)); - - tmp1 = _mm_mul_ps(row0, row3); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1)); - minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1); - minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1)); - - tmp1 = _mm_mul_ps(row0, row2); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1); - minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1); - minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1)); - tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E); - minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1)); - minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3); - - det = _mm_mul_ps(row0, minor0); - det = _mm_add_ps(_mm_shuffle_ps(det, det, 0x4E), det); - det = _mm_add_ss(_mm_shuffle_ps(det, det, 0xB1), det); - tmp1 = _mm_rcp_ss(det); -#if 0 - det = _mm_sub_ss(_mm_add_ss(tmp1, tmp1), _mm_mul_ss(det, _mm_mul_ss(tmp1, tmp1))); - det = _mm_shuffle_ps(det, det, 0x00); -#else - det = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(0, 0, 0, 0)); -#endif - - minor0 = _mm_mul_ps(det, minor0); - minor1 = _mm_mul_ps(det, minor1); - minor2 = _mm_mul_ps(det, minor2); - minor3 = _mm_mul_ps(det, minor3); - Mat44V invTrans(minor0, minor1, minor2, minor3); - return M44Trnsps(invTrans); -} - -PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w) -{ - return _mm_set_ps(w, z, y, x); -} - -/* -// AP: work in progress - use proper SSE intrinsics where possible -PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b) -{ - VecU16V result; - result.m128_u16[0] = PxU16(PxClamp<PxU32>((a).m128_u32[0], 0, 0xFFFF)); - result.m128_u16[1] = PxU16(PxClamp<PxU32>((a).m128_u32[1], 0, 0xFFFF)); - result.m128_u16[2] = PxU16(PxClamp<PxU32>((a).m128_u32[2], 0, 0xFFFF)); - result.m128_u16[3] = PxU16(PxClamp<PxU32>((a).m128_u32[3], 0, 0xFFFF)); - result.m128_u16[4] = PxU16(PxClamp<PxU32>((b).m128_u32[0], 0, 0xFFFF)); - result.m128_u16[5] = PxU16(PxClamp<PxU32>((b).m128_u32[1], 0, 0xFFFF)); - result.m128_u16[6] = PxU16(PxClamp<PxU32>((b).m128_u32[2], 0, 0xFFFF)); - result.m128_u16[7] = PxU16(PxClamp<PxU32>((b).m128_u32[3], 0, 0xFFFF)); - return result; -} -*/ - -PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b) -{ - return m128_I2F(_mm_or_si128(_mm_andnot_si128(m128_F2I(c), m128_F2I(b)), _mm_and_si128(m128_F2I(c), m128_F2I(a)))); -} - -PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b) -{ - return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b))); -} - -PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b) -{ - return m128_I2F(_mm_xor_si128(m128_F2I(a), m128_F2I(b))); -} - -PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b) -{ - return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b))); -} - -PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b) -{ - return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a))); -} - -/* -PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b) -{ - return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b))); -} -*/ - -/* -PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b) -{ - return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b))); -} -*/ - -/* -PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b) -{ - return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a))); -} -*/ - -PX_FORCE_INLINE VecI32V I4Load(const PxI32 i) -{ - return m128_F2I(_mm_load1_ps(reinterpret_cast<const PxF32*>(&i))); -} - -PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i) -{ - return m128_F2I(_mm_loadu_ps(reinterpret_cast<const PxF32*>(i))); -} - -PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i) -{ - return m128_F2I(_mm_load_ps(reinterpret_cast<const PxF32*>(i))); -} - -PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b) -{ - return _mm_add_epi32(a, b); -} - -PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b) -{ - return _mm_sub_epi32(a, b); -} - -PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b) -{ - return m128_I2F(_mm_cmpgt_epi32(a, b)); -} - -PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b) -{ - return m128_I2F(_mm_cmpeq_epi32(a, b)); -} - -PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b) -{ - return _mm_or_si128(_mm_andnot_si128(m128_F2I(c), b), _mm_and_si128(m128_F2I(c), a)); -} - -PX_FORCE_INLINE VecI32V VecI32V_Zero() -{ - return _mm_setzero_si128(); -} - -PX_FORCE_INLINE VecI32V VecI32V_One() -{ - return I4Load(1); -} - -PX_FORCE_INLINE VecI32V VecI32V_Two() -{ - return I4Load(2); -} - -PX_FORCE_INLINE VecI32V VecI32V_MinusOne() -{ - return I4Load(-1); -} - -PX_FORCE_INLINE VecU32V U4Zero() -{ - return U4Load(0); -} - -PX_FORCE_INLINE VecU32V U4One() -{ - return U4Load(1); -} - -PX_FORCE_INLINE VecU32V U4Two() -{ - return U4Load(2); -} - -PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b) -{ - return _mm_or_si128(_mm_andnot_si128(m128_F2I(c), b), _mm_and_si128(m128_F2I(c), a)); -} - -PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift) -{ - VecShiftV s; - s.shift = VecI32V_Sel(BTFFF(), shift, VecI32V_Zero()); - return s; -} - -PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count) -{ - return _mm_sll_epi32(a, count.shift); -} - -PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count) -{ - return _mm_srl_epi32(a, count.shift); -} - -PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b) -{ - return _mm_and_si128(a, b); -} - -PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b) -{ - return _mm_or_si128(a, b); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a) -{ - return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(0, 0, 0, 0))); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a) -{ - return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(1, 1, 1, 1))); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a) -{ - return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(2, 2, 2, 2))); -} - -PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a) -{ - return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(3, 3, 3, 3))); -} - -PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i) -{ - _mm_store_ss(reinterpret_cast<PxF32*>(i), m128_I2F(a)); -} - -PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg x, const VecI32VArg y, const VecI32VArg z, const VecI32VArg w) -{ - const __m128 xw = _mm_move_ss(m128_I2F(y), m128_I2F(x)); // y, y, y, x - const __m128 yz = _mm_move_ss(m128_I2F(z), m128_I2F(w)); // z, z, z, w - return m128_F2I(_mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0))); -} - -PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg a) -{ - return m128_F2I(a); -} - -PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg a) -{ - return a; -} - -/* -template<int a> PX_FORCE_INLINE VecI32V V4ISplat() -{ - VecI32V result; - result.m128_i32[0] = a; - result.m128_i32[1] = a; - result.m128_i32[2] = a; - result.m128_i32[3] = a; - return result; -} - -template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat() -{ - VecU32V result; - result.m128_u32[0] = a; - result.m128_u32[1] = a; - result.m128_u32[2] = a; - result.m128_u32[3] = a; - return result; -} -*/ - -/* -PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address) -{ - *address = val; -} -*/ - -PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address) -{ - *address = val; -} - -PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr) -{ - return *addr; -} - -PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr) -{ - return V4LoadU(reinterpret_cast<float*>(addr)); -} - -PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b) -{ - VecU32V result32(a); - result32 = V4U32Andc(result32, b); - return Vec4V(result32); -} - -PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b) -{ - return V4IsGrtr(a, b); -} - -PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr) -{ - return *addr; -} - -PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr) -{ - return *addr; -} - -PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b) -{ - // _mm_cmpgt_epi16 doesn't work for unsigned values unfortunately - // return m128_I2F(_mm_cmpgt_epi16(m128_F2I(a), m128_F2I(b))); - VecU16V result; - result.m128_u16[0] = (a).m128_u16[0] > (b).m128_u16[0]; - result.m128_u16[1] = (a).m128_u16[1] > (b).m128_u16[1]; - result.m128_u16[2] = (a).m128_u16[2] > (b).m128_u16[2]; - result.m128_u16[3] = (a).m128_u16[3] > (b).m128_u16[3]; - result.m128_u16[4] = (a).m128_u16[4] > (b).m128_u16[4]; - result.m128_u16[5] = (a).m128_u16[5] > (b).m128_u16[5]; - result.m128_u16[6] = (a).m128_u16[6] > (b).m128_u16[6]; - result.m128_u16[7] = (a).m128_u16[7] > (b).m128_u16[7]; - return result; -} - -PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b) -{ - return m128_I2F(_mm_cmpgt_epi16(m128_F2I(a), m128_F2I(b))); -} - -PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a) -{ - Vec4V result = V4LoadXYZW(PxF32(a.m128_u32[0]), PxF32(a.m128_u32[1]), PxF32(a.m128_u32[2]), PxF32(a.m128_u32[3])); - return result; -} - -PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V in) -{ - return _mm_cvtepi32_ps(in); -} - -PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a) -{ - return _mm_cvttps_epi32(a); -} - -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a) -{ - return Vec4V(a); -} - -PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a) -{ - return m128_I2F(a); -} - -PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a) -{ - return VecU32V(a); -} - -PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a) -{ - return m128_F2I(a); -} - -/* -template<int index> PX_FORCE_INLINE BoolV BSplatElement(BoolV a) -{ - BoolV result; - result[0] = result[1] = result[2] = result[3] = a[index]; - return result; -} -*/ - -template <int index> -BoolV BSplatElement(BoolV a) -{ - float* data = reinterpret_cast<float*>(&a); - return V4Load(data[index]); -} - -template <int index> -PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a) -{ - VecU32V result; - result.m128_u32[0] = result.m128_u32[1] = result.m128_u32[2] = result.m128_u32[3] = a.m128_u32[index]; - return result; -} - -template <int index> -PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a) -{ - float* data = reinterpret_cast<float*>(&a); - return V4Load(data[index]); -} - -PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w) -{ - VecU32V result; - result.m128_u32[0] = x; - result.m128_u32[1] = y; - result.m128_u32[2] = z; - result.m128_u32[3] = w; - return result; -} - -PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V in) -{ - UnionM128 a(in); - return V4LoadXYZW(PxCeil(a.m128_f32[0]), PxCeil(a.m128_f32[1]), PxCeil(a.m128_f32[2]), PxCeil(a.m128_f32[3])); -} - -PX_FORCE_INLINE Vec4V V4Floor(const Vec4V in) -{ - UnionM128 a(in); - return V4LoadXYZW(PxFloor(a.m128_f32[0]), PxFloor(a.m128_f32[1]), PxFloor(a.m128_f32[2]), PxFloor(a.m128_f32[3])); -} - -PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V in, PxU32 power) -{ - PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate"); - PX_UNUSED(power); // prevent warning in release builds - PxF32 ffffFFFFasFloat = PxF32(0xFFFF0000); - UnionM128 a(in); - VecU32V result; - result.m128_u32[0] = PxU32(PxClamp<PxF32>((a).m128_f32[0], 0.0f, ffffFFFFasFloat)); - result.m128_u32[1] = PxU32(PxClamp<PxF32>((a).m128_f32[1], 0.0f, ffffFFFFasFloat)); - result.m128_u32[2] = PxU32(PxClamp<PxF32>((a).m128_f32[2], 0.0f, ffffFFFFasFloat)); - result.m128_u32[3] = PxU32(PxClamp<PxF32>((a).m128_f32[3], 0.0f, ffffFFFFasFloat)); - return result; -} - -#endif // PSFOUNDATION_PSUNIXSSE2INLINEAOS_H |