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- Anonymous
- Friday, August 17th, 2012 at 10:23:24pm MDT
- void
- M_MatrixRotateAxis44_SSE(M_Matrix44 *M, M_Real theta, M_Vector3 A)
- {
- float s = sinf((float)theta);
- float c = cosf((float)theta);
- float t = 1.0f - c;
- M_Matrix44 R;
- __m128 a = A.m128, r1;
- #ifdef HAVE_SSE3
- __m128 rC1 = _mm_set_ps(-c, s*A.z, 0.0f, +c); /* 1,3 1,2 3 2 */
- __m128 rC2 = _mm_set_ps(0.0f, -s*A.y, s*A.y, -s*A.x); /* 1,2 3 1 2,3 */
- #endif
- /* m1: [t*AxAx + c, t*AxAy + sAz, t*AxAz - sAy, 0] */
- r1 = _mm_mul_ps(_mm_set1_ps(t), a);
- r1 = _mm_mul_ps(r1, _mm_shuffle_ps(a,a,_MM_SHUFFLE(0,0,0,0)));
- #ifdef HAVE_SSE3
- R.m1 = _mm_addsub_ps(r1, _mm_shuffle_ps(rC1,rC2,_MM_SHUFFLE(3,1,2,3)));
- #else
- R.m1 = _mm_add_ps(r1, _mm_set_ps(0.0f, -s*A.y, s*A.z, c));
- #endif
- /* m2: [t*AxAy - sAz, t*AyAy + c, t*AyAz + sAx, 0] */
- r1 = _mm_mul_ps(_mm_set1_ps(t), _mm_shuffle_ps(a,a,_MM_SHUFFLE(3,1,1,0)));
- r1 = _mm_mul_ps(r1, _mm_shuffle_ps(a,a,_MM_SHUFFLE(3,2,1,1)));
- #ifdef HAVE_SSE3
- R.m2 = _mm_addsub_ps(r1, _mm_shuffle_ps(rC1,rC2,_MM_SHUFFLE(3,0,0,2)));
- #else
- R.m2 = _mm_add_ps(r1, _mm_set_ps(0.0f, +s*A.x, c, -s*A.z));
- #endif
- /* m3: [t*AxAz + sAy, t*AyAz - sAx, t*AzAz + c, 0] */
- r1 = _mm_mul_ps(_mm_set1_ps(t), a);
- r1 = _mm_mul_ps(r1, _mm_shuffle_ps(a,a,_MM_SHUFFLE(0,2,2,2)));
- #ifdef HAVE_SSE3
- R.m3 = _mm_addsub_ps(r1, _mm_shuffle_ps(rC2,rC1,_MM_SHUFFLE(1,3,0,2)));
- #else
- R.m3 = _mm_add_ps(r1, _mm_set_ps(0.0f, c, -s*A.x, +s*A.y));
- #endif
- /* m4: [0, 0, 0, 1] */
- R.m4 = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f);
- M_MatrixMult44v_SSE(M, &R);
- }
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