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Stewart Miles committed Nov 20, 2015
2 parents 03493a9 + 6cb4a10 commit 380f21d
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357 changes: 165 additions & 192 deletions include/mathfu/matrix.h
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137 changes: 63 additions & 74 deletions include/mathfu/matrix_4x4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@
#define MATHFU_MATRIX_4X4_H_

#include "mathfu/matrix.h"
#include "mathfu/vector_4.h"
#include "mathfu/utilities.h"
#include "mathfu/vector_4.h"

#ifdef MATHFU_COMPILE_WITH_SIMD
#include "vectorial/simd4x4f.h"
Expand All @@ -35,7 +35,7 @@ namespace mathfu {
static const Vector<float, 4> kAffineWColumn(0.0f, 0.0f, 0.0f, 1.0f);

/// @cond MATHFU_INTERNAL
template<>
template <>
class Matrix<float, 4> {
public:
Matrix<float, 4>() {}
Expand All @@ -52,33 +52,32 @@ class Matrix<float, 4> {
data_.simd_matrix = simd4x4f_create(v, v, v, v);
}

inline Matrix<float, 4>(
const float& s00, const float& s10, const float& s20, const float& s30,
const float& s01, const float& s11, const float& s21, const float& s31,
const float& s02, const float& s12, const float& s22, const float& s32,
const float& s03, const float& s13, const float& s23, const float& s33) {
data_.simd_matrix = simd4x4f_create(simd4f_create(s00, s10, s20, s30),
simd4f_create(s01, s11, s21, s31),
simd4f_create(s02, s12, s22, s32),
simd4f_create(s03, s13, s23, s33));
inline Matrix<float, 4>(const float& s00, const float& s10, const float& s20,
const float& s30, const float& s01, const float& s11,
const float& s21, const float& s31, const float& s02,
const float& s12, const float& s22, const float& s32,
const float& s03, const float& s13, const float& s23,
const float& s33) {
data_.simd_matrix = simd4x4f_create(
simd4f_create(s00, s10, s20, s30), simd4f_create(s01, s11, s21, s31),
simd4f_create(s02, s12, s22, s32), simd4f_create(s03, s13, s23, s33));
}

explicit inline Matrix<float, 4>(const float* m) {
data_.simd_matrix = simd4x4f_create(
simd4f_create(m[0], m[1], m[2], m[3]),
simd4f_create(m[4], m[5], m[6], m[7]),
simd4f_create(m[8], m[9], m[10], m[11]),
simd4f_create(m[12], m[13], m[14], m[15]));
data_.simd_matrix =
simd4x4f_create(simd4f_create(m[0], m[1], m[2], m[3]),
simd4f_create(m[4], m[5], m[6], m[7]),
simd4f_create(m[8], m[9], m[10], m[11]),
simd4f_create(m[12], m[13], m[14], m[15]));
}

inline Matrix<float, 4>(const Vector<float, 4>& column0,
const Vector<float, 4>& column1,
const Vector<float, 4>& column2,
const Vector<float, 4>& column3) {
#if defined(MATHFU_COMPILE_WITH_PADDING)
data_.simd_matrix = simd4x4f_create(
column0.data_.simd, column1.data_.simd,
column2.data_.simd, column3.data_.simd);
data_.simd_matrix = simd4x4f_create(column0.data_.simd, column1.data_.simd,
column2.data_.simd, column3.data_.simd);
#else
data_.simd_matrix = simd4x4f_create(
simd4f_create(column0[0], column0[1], column0[2], column0[3]),
Expand All @@ -88,14 +87,13 @@ class Matrix<float, 4> {
#endif // defined(MATHFU_COMPILE_WITH_PADDING)
}

explicit inline Matrix(const VectorPacked<float, 4> * const vectors) {
explicit inline Matrix(const VectorPacked<float, 4>* const vectors) {
data_.simd_matrix.x = simd4f_uload4(vectors[0].data);
data_.simd_matrix.y = simd4f_uload4(vectors[1].data);
data_.simd_matrix.z = simd4f_uload4(vectors[2].data);
data_.simd_matrix.w = simd4f_uload4(vectors[3].data);
}


inline const float& operator()(const int i, const int j) const {
return FindElem(i, FindColumn(j));
}
Expand All @@ -108,9 +106,7 @@ class Matrix<float, 4> {
return this->operator[](i);
}

inline float& operator()(const int i) {
return this->operator[](i);
}
inline float& operator()(const int i) { return this->operator[](i); }

inline const float& operator[](const int i) const {
const int col = i / 4;
Expand All @@ -124,7 +120,7 @@ class Matrix<float, 4> {
return FindElem(row, FindColumn(col));
}

inline void Pack(VectorPacked<float, 4> * const vector) const {
inline void Pack(VectorPacked<float, 4>* const vector) const {
simd4f_ustore4(data_.simd_matrix.x, vector[0].data);
simd4f_ustore4(data_.simd_matrix.y, vector[1].data);
simd4f_ustore4(data_.simd_matrix.z, vector[2].data);
Expand Down Expand Up @@ -177,11 +173,10 @@ class Matrix<float, 4> {
return_v *= (1 / return_v.data_.float_array[3]);
#else
temp_v.simd = simd4f_create(v[0], v[1], v[2], 1.0f);
simd4x4f_matrix_vector_mul(&data_.simd_matrix, &temp_v.simd,
&temp_v.simd);
simd4x4f_matrix_vector_mul(&data_.simd_matrix, &temp_v.simd, &temp_v.simd);
simd4f_mul(temp_v.simd, simd4f_splat(temp_v.float_array[3]));
MATHFU_VECTOR3_STORE3(temp_v.simd, return_v.data_);
#endif // MATHFU_COMPILE_WITH_PADDING
#endif // MATHFU_COMPILE_WITH_PADDING
return return_v;
}

Expand All @@ -194,10 +189,10 @@ class Matrix<float, 4> {

inline Vector<float, 4> VecMatTimes(const Vector<float, 4>& v) const {
return Vector<float, 4>(
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.x),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.y),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.z),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.w));
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.x),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.y),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.z),
simd4f_dot3_scalar(v.data_.simd, data_.simd_matrix.w));
}

inline Matrix<float, 4> operator*(const Matrix<float, 4>& m) const {
Expand All @@ -215,9 +210,9 @@ class Matrix<float, 4> {

inline bool InverseWithDeterminantCheck(
Matrix<float, 4, 4>* const inverse) const {
return fabs(simd4f_get_x(simd4x4f_inverse(
&data_.simd_matrix, &inverse->data_.simd_matrix))) >=
Constants<float>::GetDeterminantThreshold();
return fabs(simd4f_get_x(simd4x4f_inverse(&data_.simd_matrix,
&inverse->data_.simd_matrix))) >=
Constants<float>::GetDeterminantThreshold();
}

/// Calculate the transpose of matrix.
Expand All @@ -235,28 +230,24 @@ class Matrix<float, 4> {
}

inline Matrix<float, 4>& operator+=(const Matrix<float, 4>& m) {
simd4x4f_add(&data_.simd_matrix, &m.data_.simd_matrix,
&data_.simd_matrix);
simd4x4f_add(&data_.simd_matrix, &m.data_.simd_matrix, &data_.simd_matrix);
return *this;
}

inline Matrix<float, 4>& operator-=(const Matrix<float, 4>& m) {
simd4x4f_sub(&data_.simd_matrix, &m.data_.simd_matrix,
&data_.simd_matrix);
simd4x4f_sub(&data_.simd_matrix, &m.data_.simd_matrix, &data_.simd_matrix);
return *this;
}

inline Matrix<float, 4>& operator*=(const float& s) {
Matrix<float, 4> m(s);
simd4x4f_mul(&m.data_.simd_matrix, &data_.simd_matrix,
&data_.simd_matrix);
simd4x4f_mul(&m.data_.simd_matrix, &data_.simd_matrix, &data_.simd_matrix);
return *this;
}

inline Matrix<float, 4>& operator/=(const float& s) {
Matrix<float, 4> m(1 / s);
simd4x4f_mul(&m.data_.simd_matrix, &data_.simd_matrix,
&data_.simd_matrix);
simd4x4f_mul(&m.data_.simd_matrix, &data_.simd_matrix, &data_.simd_matrix);
return *this;
}

Expand All @@ -267,19 +258,19 @@ class Matrix<float, 4> {
return *this;
}

static inline Matrix<float, 4> OuterProduct(
const Vector<float, 4>& v1, const Vector<float, 4>& v2) {
static inline Matrix<float, 4> OuterProduct(const Vector<float, 4>& v1,
const Vector<float, 4>& v2) {
Matrix<float, 4> m;
m.data_.simd_matrix = simd4x4f_create(
simd4f_mul(v1.data_.simd, simd4f_splat(v2[0])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[1])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[2])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[3])));
m.data_.simd_matrix =
simd4x4f_create(simd4f_mul(v1.data_.simd, simd4f_splat(v2[0])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[1])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[2])),
simd4f_mul(v1.data_.simd, simd4f_splat(v2[3])));
return m;
}

static inline Matrix<float, 4> HadamardProduct(
const Matrix<float, 4>& m1, const Matrix<float, 4>& m2) {
static inline Matrix<float, 4> HadamardProduct(const Matrix<float, 4>& m1,
const Matrix<float, 4>& m2) {
Matrix<float, 4> return_m;
simd4x4f_mul(&m1.data_.simd_matrix, &m2.data_.simd_matrix,
&return_m.data_.simd_matrix);
Expand All @@ -294,20 +285,18 @@ class Matrix<float, 4> {

static inline Matrix<float, 4> FromTranslationVector(
const Vector<float, 3>& v) {
return Matrix<float, 4>(
1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, v[0], v[1], v[2], 1);
return Matrix<float, 4>(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, v[0], v[1],
v[2], 1);
}

static inline Matrix<float, 4> FromScaleVector(const Vector<float, 3>& v) {
return Matrix<float, 4>(
v[0], 0, 0, 0, 0, v[1], 0, 0, 0, 0, v[2], 0, 0, 0, 0, 1);
return Matrix<float, 4>(v[0], 0, 0, 0, 0, v[1], 0, 0, 0, 0, v[2], 0, 0, 0,
0, 1);
}

static inline Matrix<float, 4> FromRotationMatrix(
const Matrix<float, 3>& m) {
return Matrix<float, 4>(
m[0], m[1], m[2], 0, m[3], m[4], m[5], 0,
m[6], m[7], m[8], 0, 0, 0, 0, 1);
static inline Matrix<float, 4> FromRotationMatrix(const Matrix<float, 3>& m) {
return Matrix<float, 4>(m[0], m[1], m[2], 0, m[3], m[4], m[5], 0, m[6],
m[7], m[8], 0, 0, 0, 0, 1);
}

/// @brief Constructs a Matrix<float, 4> from an AffineTransform.
Expand Down Expand Up @@ -342,16 +331,15 @@ class Matrix<float, 4> {

/// Create a 4x4 perpective matrix.
/// @handedness: 1.0f for RH, -1.0f for LH
static inline Matrix<float, 4, 4> Perspective(
float fovy, float aspect, float znear, float zfar,
float handedness = 1.0f) {
static inline Matrix<float, 4, 4> Perspective(float fovy, float aspect,
float znear, float zfar,
float handedness = 1.0f) {
return PerspectiveHelper(fovy, aspect, znear, zfar, handedness);
}

/// Create a 4x4 orthographic matrix.
static inline Matrix<float, 4, 4> Ortho(float left, float right,
float bottom, float top,
float znear, float zfar) {
static inline Matrix<float, 4, 4> Ortho(float left, float right, float bottom,
float top, float znear, float zfar) {
return OrthoHelper(left, right, bottom, top, znear, zfar);
}

Expand All @@ -360,9 +348,9 @@ class Matrix<float, 4> {
/// @param eye The position of the camera.
/// @param up The up vector in the world, for example (0, 1, 0) if the
/// y-axis is up.
static inline Matrix<float, 4, 4> LookAt(
const Vector<float, 3>& at, const Vector<float, 3>& eye,
const Vector<float, 3>& up) {
static inline Matrix<float, 4, 4> LookAt(const Vector<float, 3>& at,
const Vector<float, 3>& eye,
const Vector<float, 3>& up) {
return LookAtHelper(at, eye, up);
}

Expand All @@ -374,6 +362,8 @@ class Matrix<float, 4> {
/// Total number of elements in the matrix.
static const int kElements = 4 * 4;

MATHFU_DEFINE_CLASS_SIMD_AWARE_NEW_DELETE

private:
inline const Simd4fUnion& FindColumn(const int i) const {
return data_.simd4f_union_array[i];
Expand All @@ -383,8 +373,7 @@ class Matrix<float, 4> {
return data_.simd4f_union_array[i];
}

static inline const float& FindElem(const int i,
const Simd4fUnion& column) {
static inline const float& FindElem(const int i, const Simd4fUnion& column) {
return column.float_array[i];
}

Expand All @@ -405,8 +394,8 @@ inline Matrix<float, 4> operator*(const float& s, const Matrix<float, 4>& m) {
return m * s;
}

inline Vector<float, 4> operator*(
const Vector<float, 4>& v, const Matrix<float, 4>& m) {
inline Vector<float, 4> operator*(const Vector<float, 4>& v,
const Matrix<float, 4>& m) {
return m.VecMatTimes(v);
}
/// @endcond
Expand Down
6 changes: 4 additions & 2 deletions include/mathfu/quaternion.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -351,7 +351,7 @@ class Quaternion {
// Any rotation < 0.1 degrees is treated as no rotation
// in order to avoid division by zero errors.
// So we early-out in cases where it's less then 0.1 degrees.
//cos( 0.1 degrees) = 0.99999847691
// cos( 0.1 degrees) = 0.99999847691
if (dot_product >= static_cast<T>(0.99999847691)) {
return Quaternion<T>::identity;
}
Expand Down Expand Up @@ -445,7 +445,7 @@ class Quaternion {
// Any rotation < 0.1 degrees is treated as no rotation
// in order to avoid division by zero errors.
// So we early-out in cases where it's less then 0.1 degrees.
//cos( 0.1 degrees) = 0.99999847691
// cos( 0.1 degrees) = 0.99999847691
if (dot_product >= static_cast<T>(0.99999847691)) {
return Quaternion<T>::identity;
}
Expand All @@ -465,6 +465,8 @@ class Quaternion {
/// @brief Contains a quaternion doing the identity transform.
static Quaternion<T> identity;

MATHFU_DEFINE_CLASS_SIMD_AWARE_NEW_DELETE

private:
T s_;
Vector<T, 3> v_;
Expand Down
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