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simd_quat.hpp
Go to the documentation of this file.
1
38 #ifndef GLM_GTX_simd_quat
39 #define GLM_GTX_simd_quat
40
41 // Dependency:
42 #include "../glm.hpp"
43 #include "../gtc/quaternion.hpp"
44 #include "../gtx/fast_trigonometry.hpp"
45
46 #if(GLM_ARCH != GLM_ARCH_PURE)
47
48 #if(GLM_ARCH & GLM_ARCH_SSE2)
49 # include "../core/intrinsic_common.hpp"
50 # include "../core/intrinsic_geometric.hpp"
51 # include "../gtx/simd_mat4.hpp"
52 #else
53 # error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics"
54 #endif
55
56 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
57 # pragma message("GLM: GLM_GTX_simd_quat extension included")
58 #endif
59
60
61 // Warning silencer for nameless struct/union.
62 #if (GLM_COMPILER & GLM_COMPILER_VC)
63 # pragma warning(push)
64 # pragma warning(disable:4201) // warning C4201: nonstandard extension used : nameless struct/union
65 #endif
66
67
68 namespace glm{
69 namespace detail
70 {
73 GLM_ALIGNED_STRUCT(16) fquatSIMD
74 {
75 enum ctor{null};
76 typedef __m128 value_type;
77 typedef std::size_t size_type;
78 static size_type value_size();
79
80 typedef fquatSIMD type;
81 typedef tquat<bool, defaultp> bool_type;
82
83 #ifdef GLM_SIMD_ENABLE_XYZW_UNION
84 union
85 {
86 __m128 Data;
87 struct {float x, y, z, w;};
88 };
89 #else
90 __m128 Data;
91 #endif
92
94 // Implicit basic constructors
95
96 fquatSIMD();
97 fquatSIMD(__m128 const & Data);
98 fquatSIMD(fquatSIMD const & q);
99
101 // Explicit basic constructors
102
103 explicit fquatSIMD(
104 ctor);
105 explicit fquatSIMD(
106 float const & w,
107 float const & x,
108 float const & y,
109 float const & z);
110 explicit fquatSIMD(
111 quat const & v);
112 explicit fquatSIMD(
113 vec3 const & eulerAngles);
114
115
117 // Unary arithmetic operators
118
119 fquatSIMD& operator =(fquatSIMD const & q);
120 fquatSIMD& operator*=(float const & s);
121 fquatSIMD& operator/=(float const & s);
122 };
123
124
126 // Arithmetic operators
127
128 detail::fquatSIMD operator- (
129 detail::fquatSIMD const & q);
130
131 detail::fquatSIMD operator+ (
132 detail::fquatSIMD const & q,
133 detail::fquatSIMD const & p);
134
135 detail::fquatSIMD operator* (
136 detail::fquatSIMD const & q,
137 detail::fquatSIMD const & p);
138
139 detail::fvec4SIMD operator* (
140 detail::fquatSIMD const & q,
141 detail::fvec4SIMD const & v);
142
143 detail::fvec4SIMD operator* (
144 detail::fvec4SIMD const & v,
145 detail::fquatSIMD const & q);
146
147 detail::fquatSIMD operator* (
148 detail::fquatSIMD const & q,
149 float s);
150
151 detail::fquatSIMD operator* (
152 float s,
153 detail::fquatSIMD const & q);
154
155 detail::fquatSIMD operator/ (
156 detail::fquatSIMD const & q,
157 float s);
158
159 }//namespace detail
160
161 typedef glm::detail::fquatSIMD simdQuat;
162
165
168 quat quat_cast(
169 detail::fquatSIMD const & x);
170
173 detail::fquatSIMD quatSIMD_cast(
174 detail::fmat4x4SIMD const & m);
175
178 template <typename T, precision P>
179 detail::fquatSIMD quatSIMD_cast(
180 detail::tmat4x4<T, P> const & m);
181
184 template <typename T, precision P>
185 detail::fquatSIMD quatSIMD_cast(
186 detail::tmat3x3<T, P> const & m);
187
190 detail::fmat4x4SIMD mat4SIMD_cast(
191 detail::fquatSIMD const & q);
192
195 mat4 mat4_cast(
196 detail::fquatSIMD const & q);
197
198
202 float length(
203 detail::fquatSIMD const & x);
204
208 detail::fquatSIMD normalize(
209 detail::fquatSIMD const & x);
210
214 float dot(
215 detail::fquatSIMD const & q1,
216 detail::fquatSIMD const & q2);
217
228 detail::fquatSIMD mix(
229 detail::fquatSIMD const & x,
230 detail::fquatSIMD const & y,
231 float const & a);
232
241 detail::fquatSIMD lerp(
242 detail::fquatSIMD const & x,
243 detail::fquatSIMD const & y,
244 float const & a);
245
254 detail::fquatSIMD slerp(
255 detail::fquatSIMD const & x,
256 detail::fquatSIMD const & y,
257 float const & a);
258
259
270 detail::fquatSIMD fastMix(
271 detail::fquatSIMD const & x,
272 detail::fquatSIMD const & y,
273 float const & a);
274
282 detail::fquatSIMD fastSlerp(
283 detail::fquatSIMD const & x,
284 detail::fquatSIMD const & y,
285 float const & a);
286
287
291 detail::fquatSIMD conjugate(
292 detail::fquatSIMD const & q);
293
297 detail::fquatSIMD inverse(
298 detail::fquatSIMD const & q);
299
306 detail::fquatSIMD angleAxisSIMD(
307 float const & angle,
308 vec3 const & axis);
309
318 detail::fquatSIMD angleAxisSIMD(
319 float const & angle,
320 float const & x,
321 float const & y,
322 float const & z);
323
324
325 // TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp().
327 __m128 fastSin(__m128 x);
328
329
331 }//namespace glm
332
333 #include "simd_quat.inl"
334
335
336 #if (GLM_COMPILER & GLM_COMPILER_VC)
337 # pragma warning(pop)
338 #endif
339
340
341 #endif//(GLM_ARCH != GLM_ARCH_PURE)
342
343 #endif//GLM_GTX_simd_quat
glm::dot
GLM_FUNC_DECL T dot(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the dot product of x and y, i.e., result = x * y.
glm::vec3
highp_vec3 vec3
3 components vector of floating-point numbers.
Definition: type_vec.hpp:414
glm::lerp
GLM_FUNC_DECL detail::tquat< T, P > lerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
Linear interpolation of two quaternions.
glm::quat_cast
GLM_FUNC_DECL detail::tquat< T, P > quat_cast(detail::tmat3x3< T, P > const &x)
Converts a 3 * 3 matrix to a quaternion.
glm::mix
GLM_FUNC_DECL genTypeT mix(genTypeT const &x, genTypeT const &y, genTypeU const &a)
If genTypeU is a floating scalar or vector: Returns x * (1.0 - a) + y * a, i.e., the linear blend of ...
glm::angle
GLM_FUNC_DECL T angle(detail::tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::eulerAngles
GLM_FUNC_DECL detail::tvec3< T, P > eulerAngles(detail::tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
glm::mat4
mat4x4 mat4
4 columns of 4 components matrix of floating-point numbers.
Definition: type_mat.hpp:454
glm::fastSin
T fastSin(const T &angle)
Faster than the common sin function but less accurate.
glm::normalize
GLM_FUNC_DECL genType normalize(genType const &x)
Returns a vector in the same direction as x but with length of 1.
glm::mat4_cast
GLM_FUNC_DECL detail::tmat4x4< T, P > mat4_cast(detail::tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::length
GLM_FUNC_DECL genType::value_type length(genType const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::quat
highp_quat quat
Quaternion of default single-precision floating-point numbers.
Definition: fwd.hpp:69
glm::inverse
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
Return the inverse of a squared matrix.
glm::fastMix
detail::tquat< T, P > fastMix(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
Quaternion normalized linear interpolation.
glm::axis
GLM_FUNC_DECL detail::tvec3< T, P > axis(detail::tquat< T, P > const &x)
Returns the q rotation axis.
glm::slerp
GLM_FUNC_DECL detail::tquat< T, P > slerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
Definition: compatibility.hpp:73
glm::conjugate
GLM_FUNC_DECL detail::tquat< T, P > conjugate(detail::tquat< T, P > const &q)
Returns the q conjugate.