136 lines
4.2 KiB
C++
136 lines
4.2 KiB
C++
/**
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* @file llquaternion2.inl
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* @brief LLQuaternion2 inline definitions
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*
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* $LicenseInfo:firstyear=2010&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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* $/LicenseInfo$
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*/
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#include "llquaternion2.h"
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static const LLQuad LL_V4A_PLUS_ONE = {1.f, 1.f, 1.f, 1.f};
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static const LLQuad LL_V4A_MINUS_ONE = {-1.f, -1.f, -1.f, -1.f};
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// Ctor from LLQuaternion
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inline LLQuaternion2::LLQuaternion2( const LLQuaternion& quat )
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{
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mQ.set(quat.mQ[VX], quat.mQ[VY], quat.mQ[VZ], quat.mQ[VW]);
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}
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//////////////////////////
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// Get/Set
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//////////////////////////
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// Return the internal LLVector4a representation of the quaternion
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inline const LLVector4a& LLQuaternion2::getVector4a() const
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{
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return mQ;
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}
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inline LLVector4a& LLQuaternion2::getVector4aRw()
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{
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return mQ;
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}
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inline void LLQuaternion2::mul(const LLQuaternion2& b)
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{
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static LL_ALIGN_16(const unsigned int signMask[4]) = { 0x0, 0x0, 0x0, 0x80000000 };
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LLVector4a sum1, sum2, prod1, prod2, prod3, prod4;
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const LLVector4a& va = mQ;
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const LLVector4a& vb = b.getVector4a();
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// [VX] [VY] [VZ] [VW]
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//prod1: +wx +wy +wz +ww Bwwww*Axyzw
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//prod2: +xw +yw +zw -xx Bxyzx*Awwwx [VW] sign flip
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//prod3: +yz +zx +xy -yy Byzxy*Azxyy [VW] sign flip
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//prod4: -zy -xz -yx -zz Bzxyz*Ayzzz
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const LLVector4a Bwwww = _mm_shuffle_ps(vb,vb,_MM_SHUFFLE(3,3,3,3));
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const LLVector4a Bxyzx = _mm_shuffle_ps(vb,vb,_MM_SHUFFLE(0,2,1,0));
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const LLVector4a Awwwx = _mm_shuffle_ps(va,va,_MM_SHUFFLE(0,3,3,3));
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const LLVector4a Byzxy = _mm_shuffle_ps(vb,vb,_MM_SHUFFLE(1,0,2,1));
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const LLVector4a Azxyy = _mm_shuffle_ps(va,va,_MM_SHUFFLE(1,1,0,2));
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const LLVector4a Bzxyz = _mm_shuffle_ps(vb,vb,_MM_SHUFFLE(2,1,0,2));
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const LLVector4a Ayzxz = _mm_shuffle_ps(va,va,_MM_SHUFFLE(2,0,2,1));
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prod1.setMul(Bwwww,va);
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prod2.setMul(Bxyzx,Awwwx);
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prod3.setMul(Byzxy,Azxyy);
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prod4.setMul(Bzxyz,Ayzxz);
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sum1.setAdd(prod2,prod3);
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sum1 = _mm_xor_ps(sum1, _mm_load_ps((const float*)signMask));
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sum2.setSub(prod1,prod4);
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mQ.setAdd(sum1,sum2);
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}
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/////////////////////////
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// Quaternion modification
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/////////////////////////
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// Set this quaternion to the conjugate of src
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inline void LLQuaternion2::setConjugate(const LLQuaternion2& src)
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{
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static LL_ALIGN_16( const U32 F_QUAT_INV_MASK_4A[4] ) = { 0x80000000, 0x80000000, 0x80000000, 0x00000000 };
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mQ = _mm_xor_ps(src.mQ, *reinterpret_cast<const LLQuad*>(&F_QUAT_INV_MASK_4A));
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}
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// Renormalizes the quaternion. Assumes it has nonzero length.
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inline void LLQuaternion2::normalize()
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{
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mQ.normalize4();
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}
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// Quantize this quaternion to 8 bit precision
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inline void LLQuaternion2::quantize8()
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{
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mQ.quantize8( LL_V4A_MINUS_ONE, LL_V4A_PLUS_ONE );
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normalize();
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}
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// Quantize this quaternion to 16 bit precision
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inline void LLQuaternion2::quantize16()
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{
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mQ.quantize16( LL_V4A_MINUS_ONE, LL_V4A_PLUS_ONE );
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normalize();
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}
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/////////////////////////
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// Quaternion inspection
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/////////////////////////
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// Return true if this quaternion is equal to 'rhs'.
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// Note! Quaternions exhibit "double-cover", so any rotation has two equally valid
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// quaternion representations and they will NOT compare equal.
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inline bool LLQuaternion2::equals(const LLQuaternion2 &rhs, F32 tolerance/* = F_APPROXIMATELY_ZERO*/) const
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{
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return mQ.equals4(rhs.mQ, tolerance);
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}
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// Return true if all components are finite and the quaternion is normalized
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inline bool LLQuaternion2::isOkRotation() const
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{
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return mQ.isFinite4() && mQ.isNormalized4();
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}
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