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Diffstat (limited to 'thirdparty/bullet/Bullet3Common/b3Matrix3x3.h')
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diff --git a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h b/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h deleted file mode 100644 index 6c46536a81..0000000000 --- a/thirdparty/bullet/Bullet3Common/b3Matrix3x3.h +++ /dev/null @@ -1,1354 +0,0 @@ -/* -Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef B3_MATRIX3x3_H -#define B3_MATRIX3x3_H - -#include "b3Vector3.h" -#include "b3Quaternion.h" -#include <stdio.h> - -#ifdef B3_USE_SSE -//const __m128 B3_ATTRIBUTE_ALIGNED16(b3v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; -const __m128 B3_ATTRIBUTE_ALIGNED16(b3vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; -#endif - -#if defined(B3_USE_SSE) || defined(B3_USE_NEON) -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; -const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(b3v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; -#endif - -#ifdef B3_USE_DOUBLE_PRECISION -#define b3Matrix3x3Data b3Matrix3x3DoubleData -#else -#define b3Matrix3x3Data b3Matrix3x3FloatData -#endif //B3_USE_DOUBLE_PRECISION - -/**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3. -* Make sure to only include a pure orthogonal matrix without scaling. */ -B3_ATTRIBUTE_ALIGNED16(class) -b3Matrix3x3 -{ - ///Data storage for the matrix, each vector is a row of the matrix - b3Vector3 m_el[3]; - -public: - /** @brief No initializaion constructor */ - b3Matrix3x3() {} - - // explicit b3Matrix3x3(const b3Scalar *m) { setFromOpenGLSubMatrix(m); } - - /**@brief Constructor from Quaternion */ - explicit b3Matrix3x3(const b3Quaternion& q) { setRotation(q); } - /* - template <typename b3Scalar> - Matrix3x3(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { - setEulerYPR(yaw, pitch, roll); - } - */ - /** @brief Constructor with row major formatting */ - b3Matrix3x3(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, - const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, - const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz) - { - setValue(xx, xy, xz, - yx, yy, yz, - zx, zy, zz); - } - -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - B3_FORCE_INLINE b3Matrix3x3(const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2) - { - m_el[0].mVec128 = v0; - m_el[1].mVec128 = v1; - m_el[2].mVec128 = v2; - } - - B3_FORCE_INLINE b3Matrix3x3(const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2) - { - m_el[0] = v0; - m_el[1] = v1; - m_el[2] = v2; - } - - // Copy constructor - B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& rhs) - { - m_el[0].mVec128 = rhs.m_el[0].mVec128; - m_el[1].mVec128 = rhs.m_el[1].mVec128; - m_el[2].mVec128 = rhs.m_el[2].mVec128; - } - - // Assignment Operator - B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m) - { - m_el[0].mVec128 = m.m_el[0].mVec128; - m_el[1].mVec128 = m.m_el[1].mVec128; - m_el[2].mVec128 = m.m_el[2].mVec128; - - return *this; - } - -#else - - /** @brief Copy constructor */ - B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& other) - { - m_el[0] = other.m_el[0]; - m_el[1] = other.m_el[1]; - m_el[2] = other.m_el[2]; - } - - /** @brief Assignment Operator */ - B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other) - { - m_el[0] = other.m_el[0]; - m_el[1] = other.m_el[1]; - m_el[2] = other.m_el[2]; - return *this; - } - -#endif - - /** @brief Get a column of the matrix as a vector - * @param i Column number 0 indexed */ - B3_FORCE_INLINE b3Vector3 getColumn(int i) const - { - return b3MakeVector3(m_el[0][i], m_el[1][i], m_el[2][i]); - } - - /** @brief Get a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE const b3Vector3& getRow(int i) const - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Get a mutable reference to a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE b3Vector3& operator[](int i) - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Get a const reference to a row of the matrix as a vector - * @param i Row number 0 indexed */ - B3_FORCE_INLINE const b3Vector3& operator[](int i) const - { - b3FullAssert(0 <= i && i < 3); - return m_el[i]; - } - - /** @brief Multiply by the target matrix on the right - * @param m Rotation matrix to be applied - * Equivilant to this = this * m */ - b3Matrix3x3& operator*=(const b3Matrix3x3& m); - - /** @brief Adds by the target matrix on the right - * @param m matrix to be applied - * Equivilant to this = this + m */ - b3Matrix3x3& operator+=(const b3Matrix3x3& m); - - /** @brief Substractss by the target matrix on the right - * @param m matrix to be applied - * Equivilant to this = this - m */ - b3Matrix3x3& operator-=(const b3Matrix3x3& m); - - /** @brief Set from the rotational part of a 4x4 OpenGL matrix - * @param m A pointer to the beginning of the array of scalars*/ - void setFromOpenGLSubMatrix(const b3Scalar* m) - { - m_el[0].setValue(m[0], m[4], m[8]); - m_el[1].setValue(m[1], m[5], m[9]); - m_el[2].setValue(m[2], m[6], m[10]); - } - /** @brief Set the values of the matrix explicitly (row major) - * @param xx Top left - * @param xy Top Middle - * @param xz Top Right - * @param yx Middle Left - * @param yy Middle Middle - * @param yz Middle Right - * @param zx Bottom Left - * @param zy Bottom Middle - * @param zz Bottom Right*/ - void setValue(const b3Scalar& xx, const b3Scalar& xy, const b3Scalar& xz, - const b3Scalar& yx, const b3Scalar& yy, const b3Scalar& yz, - const b3Scalar& zx, const b3Scalar& zy, const b3Scalar& zz) - { - m_el[0].setValue(xx, xy, xz); - m_el[1].setValue(yx, yy, yz); - m_el[2].setValue(zx, zy, zz); - } - - /** @brief Set the matrix from a quaternion - * @param q The Quaternion to match */ - void setRotation(const b3Quaternion& q) - { - b3Scalar d = q.length2(); - b3FullAssert(d != b3Scalar(0.0)); - b3Scalar s = b3Scalar(2.0) / d; - -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 vs, Q = q.get128(); - __m128i Qi = b3CastfTo128i(Q); - __m128 Y, Z; - __m128 V1, V2, V3; - __m128 V11, V21, V31; - __m128 NQ = _mm_xor_ps(Q, b3vMzeroMask); - __m128i NQi = b3CastfTo128i(NQ); - - V1 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 2, 3))); // Y X Z W - V2 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(0, 0, 1, 3)); // -X -X Y W - V3 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(2, 1, 0, 3))); // Z Y X W - V1 = _mm_xor_ps(V1, b3vMPPP); // change the sign of the first element - - V11 = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 1, 0, 3))); // Y Y X W - V21 = _mm_unpackhi_ps(Q, Q); // Z Z W W - V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(0, 2, 0, 3)); // X Z -X -W - - V2 = V2 * V1; // - V1 = V1 * V11; // - V3 = V3 * V31; // - - V11 = _mm_shuffle_ps(NQ, Q, B3_SHUFFLE(2, 3, 1, 3)); // -Z -W Y W - V11 = V11 * V21; // - V21 = _mm_xor_ps(V21, b3vMPPP); // change the sign of the first element - V31 = _mm_shuffle_ps(Q, NQ, B3_SHUFFLE(3, 3, 1, 3)); // W W -Y -W - V31 = _mm_xor_ps(V31, b3vMPPP); // change the sign of the first element - Y = b3CastiTo128f(_mm_shuffle_epi32(NQi, B3_SHUFFLE(3, 2, 0, 3))); // -W -Z -X -W - Z = b3CastiTo128f(_mm_shuffle_epi32(Qi, B3_SHUFFLE(1, 0, 1, 3))); // Y X Y W - - vs = _mm_load_ss(&s); - V21 = V21 * Y; - V31 = V31 * Z; - - V1 = V1 + V11; - V2 = V2 + V21; - V3 = V3 + V31; - - vs = b3_splat3_ps(vs, 0); - // s ready - V1 = V1 * vs; - V2 = V2 * vs; - V3 = V3 * vs; - - V1 = V1 + b3v1000; - V2 = V2 + b3v0100; - V3 = V3 + b3v0010; - - m_el[0] = b3MakeVector3(V1); - m_el[1] = b3MakeVector3(V2); - m_el[2] = b3MakeVector3(V3); -#else - b3Scalar xs = q.getX() * s, ys = q.getY() * s, zs = q.getZ() * s; - b3Scalar wx = q.getW() * xs, wy = q.getW() * ys, wz = q.getW() * zs; - b3Scalar xx = q.getX() * xs, xy = q.getX() * ys, xz = q.getX() * zs; - b3Scalar yy = q.getY() * ys, yz = q.getY() * zs, zz = q.getZ() * zs; - setValue( - b3Scalar(1.0) - (yy + zz), xy - wz, xz + wy, - xy + wz, b3Scalar(1.0) - (xx + zz), yz - wx, - xz - wy, yz + wx, b3Scalar(1.0) - (xx + yy)); -#endif - } - - /** @brief Set the matrix from euler angles using YPR around YXZ respectively - * @param yaw Yaw about Y axis - * @param pitch Pitch about X axis - * @param roll Roll about Z axis - */ - void setEulerYPR(const b3Scalar& yaw, const b3Scalar& pitch, const b3Scalar& roll) - { - setEulerZYX(roll, pitch, yaw); - } - - /** @brief Set the matrix from euler angles YPR around ZYX axes - * @param eulerX Roll about X axis - * @param eulerY Pitch around Y axis - * @param eulerZ Yaw aboud Z axis - * - * These angles are used to produce a rotation matrix. The euler - * angles are applied in ZYX order. I.e a vector is first rotated - * about X then Y and then Z - **/ - void setEulerZYX(b3Scalar eulerX, b3Scalar eulerY, b3Scalar eulerZ) - { - ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code - b3Scalar ci(b3Cos(eulerX)); - b3Scalar cj(b3Cos(eulerY)); - b3Scalar ch(b3Cos(eulerZ)); - b3Scalar si(b3Sin(eulerX)); - b3Scalar sj(b3Sin(eulerY)); - b3Scalar sh(b3Sin(eulerZ)); - b3Scalar cc = ci * ch; - b3Scalar cs = ci * sh; - b3Scalar sc = si * ch; - b3Scalar ss = si * sh; - - setValue(cj * ch, sj * sc - cs, sj * cc + ss, - cj * sh, sj * ss + cc, sj * cs - sc, - -sj, cj * si, cj * ci); - } - - /**@brief Set the matrix to the identity */ - void setIdentity() - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0] = b3MakeVector3(b3v1000); - m_el[1] = b3MakeVector3(b3v0100); - m_el[2] = b3MakeVector3(b3v0010); -#else - setValue(b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); -#endif - } - - static const b3Matrix3x3& getIdentity() - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - static const b3Matrix3x3 - identityMatrix(b3v1000, b3v0100, b3v0010); -#else - static const b3Matrix3x3 - identityMatrix( - b3Scalar(1.0), b3Scalar(0.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(1.0), b3Scalar(0.0), - b3Scalar(0.0), b3Scalar(0.0), b3Scalar(1.0)); -#endif - return identityMatrix; - } - - /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective - * @param m The array to be filled */ - void getOpenGLSubMatrix(b3Scalar * m) const - { -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 v0 = m_el[0].mVec128; - __m128 v1 = m_el[1].mVec128; - __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 - __m128* vm = (__m128*)m; - __m128 vT; - - v2 = _mm_and_ps(v2, b3vFFF0fMask); // x2 y2 z2 0 - - vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * - v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 - - v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3)); // y0 y1 y2 0 - v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3)); // x0 x1 x2 0 - v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT))); // z0 z1 z2 0 - - vm[0] = v0; - vm[1] = v1; - vm[2] = v2; -#elif defined(B3_USE_NEON) - // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t){-1, 0}; - float32x4_t* vm = (float32x4_t*)m; - float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128); // {x0 x1 z0 z1}, {y0 y1 w0 w1} - float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f)); // {x2 0 }, {y2 0} - float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]); - float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]); - float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask); - float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q); // z0 z1 z2 0 - - vm[0] = v0; - vm[1] = v1; - vm[2] = v2; -#else - m[0] = b3Scalar(m_el[0].getX()); - m[1] = b3Scalar(m_el[1].getX()); - m[2] = b3Scalar(m_el[2].getX()); - m[3] = b3Scalar(0.0); - m[4] = b3Scalar(m_el[0].getY()); - m[5] = b3Scalar(m_el[1].getY()); - m[6] = b3Scalar(m_el[2].getY()); - m[7] = b3Scalar(0.0); - m[8] = b3Scalar(m_el[0].getZ()); - m[9] = b3Scalar(m_el[1].getZ()); - m[10] = b3Scalar(m_el[2].getZ()); - m[11] = b3Scalar(0.0); -#endif - } - - /**@brief Get the matrix represented as a quaternion - * @param q The quaternion which will be set */ - void getRotation(b3Quaternion & q) const - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ(); - b3Scalar s, x; - - union { - b3SimdFloat4 vec; - b3Scalar f[4]; - } temp; - - if (trace > b3Scalar(0.0)) - { - x = trace + b3Scalar(1.0); - - temp.f[0] = m_el[2].getY() - m_el[1].getZ(); - temp.f[1] = m_el[0].getZ() - m_el[2].getX(); - temp.f[2] = m_el[1].getX() - m_el[0].getY(); - temp.f[3] = x; - //temp.f[3]= s * b3Scalar(0.5); - } - else - { - int i, j, k; - if (m_el[0].getX() < m_el[1].getY()) - { - if (m_el[1].getY() < m_el[2].getZ()) - { - i = 2; - j = 0; - k = 1; - } - else - { - i = 1; - j = 2; - k = 0; - } - } - else - { - if (m_el[0].getX() < m_el[2].getZ()) - { - i = 2; - j = 0; - k = 1; - } - else - { - i = 0; - j = 1; - k = 2; - } - } - - x = m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0); - - temp.f[3] = (m_el[k][j] - m_el[j][k]); - temp.f[j] = (m_el[j][i] + m_el[i][j]); - temp.f[k] = (m_el[k][i] + m_el[i][k]); - temp.f[i] = x; - //temp.f[i] = s * b3Scalar(0.5); - } - - s = b3Sqrt(x); - q.set128(temp.vec); - s = b3Scalar(0.5) / s; - - q *= s; -#else - b3Scalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ(); - - b3Scalar temp[4]; - - if (trace > b3Scalar(0.0)) - { - b3Scalar s = b3Sqrt(trace + b3Scalar(1.0)); - temp[3] = (s * b3Scalar(0.5)); - s = b3Scalar(0.5) / s; - - temp[0] = ((m_el[2].getY() - m_el[1].getZ()) * s); - temp[1] = ((m_el[0].getZ() - m_el[2].getX()) * s); - temp[2] = ((m_el[1].getX() - m_el[0].getY()) * s); - } - else - { - int i = m_el[0].getX() < m_el[1].getY() ? (m_el[1].getY() < m_el[2].getZ() ? 2 : 1) : (m_el[0].getX() < m_el[2].getZ() ? 2 : 0); - int j = (i + 1) % 3; - int k = (i + 2) % 3; - - b3Scalar s = b3Sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + b3Scalar(1.0)); - temp[i] = s * b3Scalar(0.5); - s = b3Scalar(0.5) / s; - - temp[3] = (m_el[k][j] - m_el[j][k]) * s; - temp[j] = (m_el[j][i] + m_el[i][j]) * s; - temp[k] = (m_el[k][i] + m_el[i][k]) * s; - } - q.setValue(temp[0], temp[1], temp[2], temp[3]); -#endif - } - - /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR - * @param yaw Yaw around Y axis - * @param pitch Pitch around X axis - * @param roll around Z axis */ - void getEulerYPR(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll) const - { - // first use the normal calculus - yaw = b3Scalar(b3Atan2(m_el[1].getX(), m_el[0].getX())); - pitch = b3Scalar(b3Asin(-m_el[2].getX())); - roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ())); - - // on pitch = +/-HalfPI - if (b3Fabs(pitch) == B3_HALF_PI) - { - if (yaw > 0) - yaw -= B3_PI; - else - yaw += B3_PI; - - if (roll > 0) - roll -= B3_PI; - else - roll += B3_PI; - } - }; - - /**@brief Get the matrix represented as euler angles around ZYX - * @param yaw Yaw around X axis - * @param pitch Pitch around Y axis - * @param roll around X axis - * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ - void getEulerZYX(b3Scalar & yaw, b3Scalar & pitch, b3Scalar & roll, unsigned int solution_number = 1) const - { - struct Euler - { - b3Scalar yaw; - b3Scalar pitch; - b3Scalar roll; - }; - - Euler euler_out; - Euler euler_out2; //second solution - //get the pointer to the raw data - - // Check that pitch is not at a singularity - if (b3Fabs(m_el[2].getX()) >= 1) - { - euler_out.yaw = 0; - euler_out2.yaw = 0; - - // From difference of angles formula - b3Scalar delta = b3Atan2(m_el[0].getX(), m_el[0].getZ()); - if (m_el[2].getX() > 0) //gimbal locked up - { - euler_out.pitch = B3_PI / b3Scalar(2.0); - euler_out2.pitch = B3_PI / b3Scalar(2.0); - euler_out.roll = euler_out.pitch + delta; - euler_out2.roll = euler_out.pitch + delta; - } - else // gimbal locked down - { - euler_out.pitch = -B3_PI / b3Scalar(2.0); - euler_out2.pitch = -B3_PI / b3Scalar(2.0); - euler_out.roll = -euler_out.pitch + delta; - euler_out2.roll = -euler_out.pitch + delta; - } - } - else - { - euler_out.pitch = -b3Asin(m_el[2].getX()); - euler_out2.pitch = B3_PI - euler_out.pitch; - - euler_out.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out.pitch), - m_el[2].getZ() / b3Cos(euler_out.pitch)); - euler_out2.roll = b3Atan2(m_el[2].getY() / b3Cos(euler_out2.pitch), - m_el[2].getZ() / b3Cos(euler_out2.pitch)); - - euler_out.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out.pitch), - m_el[0].getX() / b3Cos(euler_out.pitch)); - euler_out2.yaw = b3Atan2(m_el[1].getX() / b3Cos(euler_out2.pitch), - m_el[0].getX() / b3Cos(euler_out2.pitch)); - } - - if (solution_number == 1) - { - yaw = euler_out.yaw; - pitch = euler_out.pitch; - roll = euler_out.roll; - } - else - { - yaw = euler_out2.yaw; - pitch = euler_out2.pitch; - roll = euler_out2.roll; - } - } - - /**@brief Create a scaled copy of the matrix - * @param s Scaling vector The elements of the vector will scale each column */ - - b3Matrix3x3 scaled(const b3Vector3& s) const - { -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s); -#else - return b3Matrix3x3( - m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(), - m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(), - m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ()); -#endif - } - - /**@brief Return the determinant of the matrix */ - b3Scalar determinant() const; - /**@brief Return the adjoint of the matrix */ - b3Matrix3x3 adjoint() const; - /**@brief Return the matrix with all values non negative */ - b3Matrix3x3 absolute() const; - /**@brief Return the transpose of the matrix */ - b3Matrix3x3 transpose() const; - /**@brief Return the inverse of the matrix */ - b3Matrix3x3 inverse() const; - - b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const; - b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const; - - B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const - { - return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ(); - } - B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const - { - return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ(); - } - B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const - { - return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ(); - } - - /**@brief diagonalizes this matrix by the Jacobi method. - * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original - * coordinate system, i.e., old_this = rot * new_this * rot^T. - * @param threshold See iteration - * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied - * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. - * - * Note that this matrix is assumed to be symmetric. - */ - void diagonalize(b3Matrix3x3 & rot, b3Scalar threshold, int maxSteps) - { - rot.setIdentity(); - for (int step = maxSteps; step > 0; step--) - { - // find off-diagonal element [p][q] with largest magnitude - int p = 0; - int q = 1; - int r = 2; - b3Scalar max = b3Fabs(m_el[0][1]); - b3Scalar v = b3Fabs(m_el[0][2]); - if (v > max) - { - q = 2; - r = 1; - max = v; - } - v = b3Fabs(m_el[1][2]); - if (v > max) - { - p = 1; - q = 2; - r = 0; - max = v; - } - - b3Scalar t = threshold * (b3Fabs(m_el[0][0]) + b3Fabs(m_el[1][1]) + b3Fabs(m_el[2][2])); - if (max <= t) - { - if (max <= B3_EPSILON * t) - { - return; - } - step = 1; - } - - // compute Jacobi rotation J which leads to a zero for element [p][q] - b3Scalar mpq = m_el[p][q]; - b3Scalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); - b3Scalar theta2 = theta * theta; - b3Scalar cos; - b3Scalar sin; - if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON)) - { - t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2)) - : 1 / (theta - b3Sqrt(1 + theta2)); - cos = 1 / b3Sqrt(1 + t * t); - sin = cos * t; - } - else - { - // approximation for large theta-value, i.e., a nearly diagonal matrix - t = 1 / (theta * (2 + b3Scalar(0.5) / theta2)); - cos = 1 - b3Scalar(0.5) * t * t; - sin = cos * t; - } - - // apply rotation to matrix (this = J^T * this * J) - m_el[p][q] = m_el[q][p] = 0; - m_el[p][p] -= t * mpq; - m_el[q][q] += t * mpq; - b3Scalar mrp = m_el[r][p]; - b3Scalar mrq = m_el[r][q]; - m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; - m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; - - // apply rotation to rot (rot = rot * J) - for (int i = 0; i < 3; i++) - { - b3Vector3& row = rot[i]; - mrp = row[p]; - mrq = row[q]; - row[p] = cos * mrp - sin * mrq; - row[q] = cos * mrq + sin * mrp; - } - } - } - - /**@brief Calculate the matrix cofactor - * @param r1 The first row to use for calculating the cofactor - * @param c1 The first column to use for calculating the cofactor - * @param r1 The second row to use for calculating the cofactor - * @param c1 The second column to use for calculating the cofactor - * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details - */ - b3Scalar cofac(int r1, int c1, int r2, int c2) const - { - return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1]; - } - - void serialize(struct b3Matrix3x3Data & dataOut) const; - - void serializeFloat(struct b3Matrix3x3FloatData & dataOut) const; - - void deSerialize(const struct b3Matrix3x3Data& dataIn); - - void deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn); - - void deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn); -}; - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator*=(const b3Matrix3x3& m) -{ -#if defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE) - __m128 rv00, rv01, rv02; - __m128 rv10, rv11, rv12; - __m128 rv20, rv21, rv22; - __m128 mv0, mv1, mv2; - - rv02 = m_el[0].mVec128; - rv12 = m_el[1].mVec128; - rv22 = m_el[2].mVec128; - - mv0 = _mm_and_ps(m[0].mVec128, b3vFFF0fMask); - mv1 = _mm_and_ps(m[1].mVec128, b3vFFF0fMask); - mv2 = _mm_and_ps(m[2].mVec128, b3vFFF0fMask); - - // rv0 - rv00 = b3_splat_ps(rv02, 0); - rv01 = b3_splat_ps(rv02, 1); - rv02 = b3_splat_ps(rv02, 2); - - rv00 = _mm_mul_ps(rv00, mv0); - rv01 = _mm_mul_ps(rv01, mv1); - rv02 = _mm_mul_ps(rv02, mv2); - - // rv1 - rv10 = b3_splat_ps(rv12, 0); - rv11 = b3_splat_ps(rv12, 1); - rv12 = b3_splat_ps(rv12, 2); - - rv10 = _mm_mul_ps(rv10, mv0); - rv11 = _mm_mul_ps(rv11, mv1); - rv12 = _mm_mul_ps(rv12, mv2); - - // rv2 - rv20 = b3_splat_ps(rv22, 0); - rv21 = b3_splat_ps(rv22, 1); - rv22 = b3_splat_ps(rv22, 2); - - rv20 = _mm_mul_ps(rv20, mv0); - rv21 = _mm_mul_ps(rv21, mv1); - rv22 = _mm_mul_ps(rv22, mv2); - - rv00 = _mm_add_ps(rv00, rv01); - rv10 = _mm_add_ps(rv10, rv11); - rv20 = _mm_add_ps(rv20, rv21); - - m_el[0].mVec128 = _mm_add_ps(rv00, rv02); - m_el[1].mVec128 = _mm_add_ps(rv10, rv12); - m_el[2].mVec128 = _mm_add_ps(rv20, rv22); - -#elif defined(B3_USE_NEON) - - float32x4_t rv0, rv1, rv2; - float32x4_t v0, v1, v2; - float32x4_t mv0, mv1, mv2; - - v0 = m_el[0].mVec128; - v1 = m_el[1].mVec128; - v2 = m_el[2].mVec128; - - mv0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask); - mv1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); - mv2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); - - rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); - rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); - rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); - - rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); - rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); - rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); - - rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); - rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); - rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); - - m_el[0].mVec128 = rv0; - m_el[1].mVec128 = rv1; - m_el[2].mVec128 = rv2; -#else - setValue( - m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), - m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), - m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2])); -#endif - return *this; -} - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator+=(const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128; - m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128; - m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128; -#else - setValue( - m_el[0][0] + m.m_el[0][0], - m_el[0][1] + m.m_el[0][1], - m_el[0][2] + m.m_el[0][2], - m_el[1][0] + m.m_el[1][0], - m_el[1][1] + m.m_el[1][1], - m_el[1][2] + m.m_el[1][2], - m_el[2][0] + m.m_el[2][0], - m_el[2][1] + m.m_el[2][1], - m_el[2][2] + m.m_el[2][2]); -#endif - return *this; -} - -B3_FORCE_INLINE b3Matrix3x3 -operator*(const b3Matrix3x3& m, const b3Scalar& k) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 vk = b3_splat_ps(_mm_load_ss((float*)&k), 0x80); - return b3Matrix3x3( - _mm_mul_ps(m[0].mVec128, vk), - _mm_mul_ps(m[1].mVec128, vk), - _mm_mul_ps(m[2].mVec128, vk)); -#elif defined(B3_USE_NEON) - return b3Matrix3x3( - vmulq_n_f32(m[0].mVec128, k), - vmulq_n_f32(m[1].mVec128, k), - vmulq_n_f32(m[2].mVec128, k)); -#else - return b3Matrix3x3( - m[0].getX() * k, m[0].getY() * k, m[0].getZ() * k, - m[1].getX() * k, m[1].getY() * k, m[1].getZ() * k, - m[2].getX() * k, m[2].getY() * k, m[2].getZ() * k); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3( - m1[0].mVec128 + m2[0].mVec128, - m1[1].mVec128 + m2[1].mVec128, - m1[2].mVec128 + m2[2].mVec128); -#else - return b3Matrix3x3( - m1[0][0] + m2[0][0], - m1[0][1] + m2[0][1], - m1[0][2] + m2[0][2], - - m1[1][0] + m2[1][0], - m1[1][1] + m2[1][1], - m1[1][2] + m2[1][2], - - m1[2][0] + m2[2][0], - m1[2][1] + m2[2][1], - m1[2][2] + m2[2][2]); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return b3Matrix3x3( - m1[0].mVec128 - m2[0].mVec128, - m1[1].mVec128 - m2[1].mVec128, - m1[2].mVec128 - m2[2].mVec128); -#else - return b3Matrix3x3( - m1[0][0] - m2[0][0], - m1[0][1] - m2[0][1], - m1[0][2] - m2[0][2], - - m1[1][0] - m2[1][0], - m1[1][1] - m2[1][1], - m1[1][2] - m2[1][2], - - m1[2][0] - m2[2][0], - m1[2][1] - m2[2][1], - m1[2][2] - m2[2][2]); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3& -b3Matrix3x3::operator-=(const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128; - m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128; - m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128; -#else - setValue( - m_el[0][0] - m.m_el[0][0], - m_el[0][1] - m.m_el[0][1], - m_el[0][2] - m.m_el[0][2], - m_el[1][0] - m.m_el[1][0], - m_el[1][1] - m.m_el[1][1], - m_el[1][2] - m.m_el[1][2], - m_el[2][0] - m.m_el[2][0], - m_el[2][1] - m.m_el[2][1], - m_el[2][2] - m.m_el[2][2]); -#endif - return *this; -} - -B3_FORCE_INLINE b3Scalar -b3Matrix3x3::determinant() const -{ - return b3Triple((*this)[0], (*this)[1], (*this)[2]); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::absolute() const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - return b3Matrix3x3( - _mm_and_ps(m_el[0].mVec128, b3vAbsfMask), - _mm_and_ps(m_el[1].mVec128, b3vAbsfMask), - _mm_and_ps(m_el[2].mVec128, b3vAbsfMask)); -#elif defined(B3_USE_NEON) - return b3Matrix3x3( - (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, b3v3AbsMask), - (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, b3v3AbsMask), - (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, b3v3AbsMask)); -#else - return b3Matrix3x3( - b3Fabs(m_el[0].getX()), b3Fabs(m_el[0].getY()), b3Fabs(m_el[0].getZ()), - b3Fabs(m_el[1].getX()), b3Fabs(m_el[1].getY()), b3Fabs(m_el[1].getZ()), - b3Fabs(m_el[2].getX()), b3Fabs(m_el[2].getY()), b3Fabs(m_el[2].getZ())); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::transpose() const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 v0 = m_el[0].mVec128; - __m128 v1 = m_el[1].mVec128; - __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 - __m128 vT; - - v2 = _mm_and_ps(v2, b3vFFF0fMask); // x2 y2 z2 0 - - vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * - v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 - - v1 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(2, 3, 1, 3)); // y0 y1 y2 0 - v0 = _mm_shuffle_ps(v0, v2, B3_SHUFFLE(0, 1, 0, 3)); // x0 x1 x2 0 - v2 = b3CastdTo128f(_mm_move_sd(b3CastfTo128d(v2), b3CastfTo128d(vT))); // z0 z1 z2 0 - - return b3Matrix3x3(v0, v1, v2); -#elif defined(B3_USE_NEON) - // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t){-1, 0}; - float32x4x2_t top = vtrnq_f32(m_el[0].mVec128, m_el[1].mVec128); // {x0 x1 z0 z1}, {y0 y1 w0 w1} - float32x2x2_t bl = vtrn_f32(vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f)); // {x2 0 }, {y2 0} - float32x4_t v0 = vcombine_f32(vget_low_f32(top.val[0]), bl.val[0]); - float32x4_t v1 = vcombine_f32(vget_low_f32(top.val[1]), bl.val[1]); - float32x2_t q = (float32x2_t)vand_u32((uint32x2_t)vget_high_f32(m_el[2].mVec128), zMask); - float32x4_t v2 = vcombine_f32(vget_high_f32(top.val[0]), q); // z0 z1 z2 0 - return b3Matrix3x3(v0, v1, v2); -#else - return b3Matrix3x3(m_el[0].getX(), m_el[1].getX(), m_el[2].getX(), - m_el[0].getY(), m_el[1].getY(), m_el[2].getY(), - m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ()); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::adjoint() const -{ - return b3Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), - cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), - cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::inverse() const -{ - b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); - b3Scalar det = (*this)[0].dot(co); - b3FullAssert(det != b3Scalar(0.0)); - b3Scalar s = b3Scalar(1.0) / det; - return b3Matrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, - co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, - co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - // zeros w - // static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; - __m128 row = m_el[0].mVec128; - __m128 m0 = _mm_and_ps(m.getRow(0).mVec128, b3vFFF0fMask); - __m128 m1 = _mm_and_ps(m.getRow(1).mVec128, b3vFFF0fMask); - __m128 m2 = _mm_and_ps(m.getRow(2).mVec128, b3vFFF0fMask); - __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0)); - __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55)); - __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa)); - row = m_el[1].mVec128; - r0 = _mm_add_ps(r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0))); - r1 = _mm_add_ps(r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa))); - row = m_el[2].mVec128; - r0 = _mm_add_ps(r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0))); - r1 = _mm_add_ps(r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa))); - return b3Matrix3x3(r0, r1, r2); - -#elif defined B3_USE_NEON - // zeros w - static const uint32x4_t xyzMask = (const uint32x4_t){-1, -1, -1, 0}; - float32x4_t m0 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(0).mVec128, xyzMask); - float32x4_t m1 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(1).mVec128, xyzMask); - float32x4_t m2 = (float32x4_t)vandq_u32((uint32x4_t)m.getRow(2).mVec128, xyzMask); - float32x4_t row = m_el[0].mVec128; - float32x4_t r0 = vmulq_lane_f32(m0, vget_low_f32(row), 0); - float32x4_t r1 = vmulq_lane_f32(m0, vget_low_f32(row), 1); - float32x4_t r2 = vmulq_lane_f32(m0, vget_high_f32(row), 0); - row = m_el[1].mVec128; - r0 = vmlaq_lane_f32(r0, m1, vget_low_f32(row), 0); - r1 = vmlaq_lane_f32(r1, m1, vget_low_f32(row), 1); - r2 = vmlaq_lane_f32(r2, m1, vget_high_f32(row), 0); - row = m_el[2].mVec128; - r0 = vmlaq_lane_f32(r0, m2, vget_low_f32(row), 0); - r1 = vmlaq_lane_f32(r1, m2, vget_low_f32(row), 1); - r2 = vmlaq_lane_f32(r2, m2, vget_high_f32(row), 0); - return b3Matrix3x3(r0, r1, r2); -#else - return b3Matrix3x3( - m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(), - m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(), - m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(), - m_el[0].getY() * m[0].getX() + m_el[1].getY() * m[1].getX() + m_el[2].getY() * m[2].getX(), - m_el[0].getY() * m[0].getY() + m_el[1].getY() * m[1].getY() + m_el[2].getY() * m[2].getY(), - m_el[0].getY() * m[0].getZ() + m_el[1].getY() * m[1].getZ() + m_el[2].getY() * m[2].getZ(), - m_el[0].getZ() * m[0].getX() + m_el[1].getZ() * m[1].getX() + m_el[2].getZ() * m[2].getX(), - m_el[0].getZ() * m[0].getY() + m_el[1].getZ() * m[1].getY() + m_el[2].getZ() * m[2].getY(), - m_el[0].getZ() * m[0].getZ() + m_el[1].getZ() * m[1].getZ() + m_el[2].getZ() * m[2].getZ()); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - __m128 a0 = m_el[0].mVec128; - __m128 a1 = m_el[1].mVec128; - __m128 a2 = m_el[2].mVec128; - - b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here - __m128 mx = mT[0].mVec128; - __m128 my = mT[1].mVec128; - __m128 mz = mT[2].mVec128; - - __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00)); - __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00)); - __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00)); - r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55))); - r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55))); - r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55))); - r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa))); - r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa))); - r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa))); - return b3Matrix3x3(r0, r1, r2); - -#elif defined B3_USE_NEON - float32x4_t a0 = m_el[0].mVec128; - float32x4_t a1 = m_el[1].mVec128; - float32x4_t a2 = m_el[2].mVec128; - - b3Matrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here - float32x4_t mx = mT[0].mVec128; - float32x4_t my = mT[1].mVec128; - float32x4_t mz = mT[2].mVec128; - - float32x4_t r0 = vmulq_lane_f32(mx, vget_low_f32(a0), 0); - float32x4_t r1 = vmulq_lane_f32(mx, vget_low_f32(a1), 0); - float32x4_t r2 = vmulq_lane_f32(mx, vget_low_f32(a2), 0); - r0 = vmlaq_lane_f32(r0, my, vget_low_f32(a0), 1); - r1 = vmlaq_lane_f32(r1, my, vget_low_f32(a1), 1); - r2 = vmlaq_lane_f32(r2, my, vget_low_f32(a2), 1); - r0 = vmlaq_lane_f32(r0, mz, vget_high_f32(a0), 0); - r1 = vmlaq_lane_f32(r1, mz, vget_high_f32(a1), 0); - r2 = vmlaq_lane_f32(r2, mz, vget_high_f32(a2), 0); - return b3Matrix3x3(r0, r1, r2); - -#else - return b3Matrix3x3( - m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]), - m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]), - m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2])); -#endif -} - -B3_FORCE_INLINE b3Vector3 -operator*(const b3Matrix3x3& m, const b3Vector3& v) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) || defined(B3_USE_NEON) - return v.dot3(m[0], m[1], m[2]); -#else - return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v)); -#endif -} - -B3_FORCE_INLINE b3Vector3 -operator*(const b3Vector3& v, const b3Matrix3x3& m) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - const __m128 vv = v.mVec128; - - __m128 c0 = b3_splat_ps(vv, 0); - __m128 c1 = b3_splat_ps(vv, 1); - __m128 c2 = b3_splat_ps(vv, 2); - - c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, b3vFFF0fMask)); - c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, b3vFFF0fMask)); - c0 = _mm_add_ps(c0, c1); - c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, b3vFFF0fMask)); - - return b3MakeVector3(_mm_add_ps(c0, c2)); -#elif defined(B3_USE_NEON) - const float32x4_t vv = v.mVec128; - const float32x2_t vlo = vget_low_f32(vv); - const float32x2_t vhi = vget_high_f32(vv); - - float32x4_t c0, c1, c2; - - c0 = (float32x4_t)vandq_s32((int32x4_t)m[0].mVec128, b3vFFF0Mask); - c1 = (float32x4_t)vandq_s32((int32x4_t)m[1].mVec128, b3vFFF0Mask); - c2 = (float32x4_t)vandq_s32((int32x4_t)m[2].mVec128, b3vFFF0Mask); - - c0 = vmulq_lane_f32(c0, vlo, 0); - c1 = vmulq_lane_f32(c1, vlo, 1); - c2 = vmulq_lane_f32(c2, vhi, 0); - c0 = vaddq_f32(c0, c1); - c0 = vaddq_f32(c0, c2); - - return b3MakeVector3(c0); -#else - return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v)); -#endif -} - -B3_FORCE_INLINE b3Matrix3x3 -operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - __m128 m10 = m1[0].mVec128; - __m128 m11 = m1[1].mVec128; - __m128 m12 = m1[2].mVec128; - - __m128 m2v = _mm_and_ps(m2[0].mVec128, b3vFFF0fMask); - - __m128 c0 = b3_splat_ps(m10, 0); - __m128 c1 = b3_splat_ps(m11, 0); - __m128 c2 = b3_splat_ps(m12, 0); - - c0 = _mm_mul_ps(c0, m2v); - c1 = _mm_mul_ps(c1, m2v); - c2 = _mm_mul_ps(c2, m2v); - - m2v = _mm_and_ps(m2[1].mVec128, b3vFFF0fMask); - - __m128 c0_1 = b3_splat_ps(m10, 1); - __m128 c1_1 = b3_splat_ps(m11, 1); - __m128 c2_1 = b3_splat_ps(m12, 1); - - c0_1 = _mm_mul_ps(c0_1, m2v); - c1_1 = _mm_mul_ps(c1_1, m2v); - c2_1 = _mm_mul_ps(c2_1, m2v); - - m2v = _mm_and_ps(m2[2].mVec128, b3vFFF0fMask); - - c0 = _mm_add_ps(c0, c0_1); - c1 = _mm_add_ps(c1, c1_1); - c2 = _mm_add_ps(c2, c2_1); - - m10 = b3_splat_ps(m10, 2); - m11 = b3_splat_ps(m11, 2); - m12 = b3_splat_ps(m12, 2); - - m10 = _mm_mul_ps(m10, m2v); - m11 = _mm_mul_ps(m11, m2v); - m12 = _mm_mul_ps(m12, m2v); - - c0 = _mm_add_ps(c0, m10); - c1 = _mm_add_ps(c1, m11); - c2 = _mm_add_ps(c2, m12); - - return b3Matrix3x3(c0, c1, c2); - -#elif defined(B3_USE_NEON) - - float32x4_t rv0, rv1, rv2; - float32x4_t v0, v1, v2; - float32x4_t mv0, mv1, mv2; - - v0 = m1[0].mVec128; - v1 = m1[1].mVec128; - v2 = m1[2].mVec128; - - mv0 = (float32x4_t)vandq_s32((int32x4_t)m2[0].mVec128, b3vFFF0Mask); - mv1 = (float32x4_t)vandq_s32((int32x4_t)m2[1].mVec128, b3vFFF0Mask); - mv2 = (float32x4_t)vandq_s32((int32x4_t)m2[2].mVec128, b3vFFF0Mask); - - rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); - rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); - rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); - - rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); - rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); - rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); - - rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); - rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); - rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); - - return b3Matrix3x3(rv0, rv1, rv2); - -#else - return b3Matrix3x3( - m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]), - m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]), - m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2])); -#endif -} - -/* -B3_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) { -return b3Matrix3x3( -m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], -m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], -m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], -m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], -m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], -m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], -m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], -m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], -m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); -} -*/ - -/**@brief Equality operator between two matrices -* It will test all elements are equal. */ -B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2) -{ -#if (defined(B3_USE_SSE_IN_API) && defined(B3_USE_SSE)) - - __m128 c0, c1, c2; - - c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128); - c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128); - c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128); - - c0 = _mm_and_ps(c0, c1); - c0 = _mm_and_ps(c0, c2); - - return (0x7 == _mm_movemask_ps((__m128)c0)); -#else - return (m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && - m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && - m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2]); -#endif -} - -///for serialization -struct b3Matrix3x3FloatData -{ - b3Vector3FloatData m_el[3]; -}; - -///for serialization -struct b3Matrix3x3DoubleData -{ - b3Vector3DoubleData m_el[3]; -}; - -B3_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const -{ - for (int i = 0; i < 3; i++) - m_el[i].serialize(dataOut.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const -{ - for (int i = 0; i < 3; i++) - m_el[i].serializeFloat(dataOut.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerialize(dataIn.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerializeFloat(dataIn.m_el[i]); -} - -B3_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn) -{ - for (int i = 0; i < 3; i++) - m_el[i].deSerializeDouble(dataIn.m_el[i]); -} - -#endif //B3_MATRIX3x3_H |