CS计算机代考程序代写 ///////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 – 2015 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the “Software”), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// Restrictions:
/// By making use of the Software for military purposes, you choose to make
/// a Bunny unhappy.
///
/// THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_simd_quat
/// @file glm/gtx/simd_quat.inl
/// @date 2013-04-22 / 2014-11-25
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////

namespace glm{
namespace detail{

//////////////////////////////////////
// Debugging
#if 0
void print(__m128 v)
{
GLM_ALIGN(16) float result[4];
_mm_store_ps(result, v);

printf(“__m128: %f %f %f %f\n”, result[0], result[1], result[2], result[3]);
}

void print(const fvec4SIMD &v)
{
printf(“fvec4SIMD: %f %f %f %f\n”, v.x, v.y, v.z, v.w);
}
#endif

//////////////////////////////////////
// Implicit basic constructors

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD()
# ifdef GLM_FORCE_NO_CTOR_INIT
: Data(_mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f))
# endif
{}

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(__m128 const & Data) :
Data(Data)
{}

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(fquatSIMD const & q) :
Data(q.Data)
{}

//////////////////////////////////////
// Explicit basic constructors

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(float const & w, float const & x, float const & y, float const & z) :
Data(_mm_set_ps(w, z, y, x))
{}

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(quat const & q) :
Data(_mm_set_ps(q.w, q.z, q.y, q.x))
{}

GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(vec3 const & eulerAngles)
{
vec3 c = glm::cos(eulerAngles * 0.5f);
vec3 s = glm::sin(eulerAngles * 0.5f);

Data = _mm_set_ps(
(c.x * c.y * c.z) + (s.x * s.y * s.z),
(c.x * c.y * s.z) – (s.x * s.y * c.z),
(c.x * s.y * c.z) + (s.x * c.y * s.z),
(s.x * c.y * c.z) – (c.x * s.y * s.z));
}

//////////////////////////////////////
// Unary arithmetic operators

GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator=(fquatSIMD const & q)
{
this->Data = q.Data;
return *this;
}

GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator*=(float const & s)
{
this->Data = _mm_mul_ps(this->Data, _mm_set_ps1(s));
return *this;
}

GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator/=(float const & s)
{
this->Data = _mm_div_ps(Data, _mm_set1_ps(s));
return *this;
}

// negate operator
GLM_FUNC_QUALIFIER fquatSIMD operator- (fquatSIMD const & q)
{
return fquatSIMD(_mm_mul_ps(q.Data, _mm_set_ps(-1.0f, -1.0f, -1.0f, -1.0f)));
}

// operator+
GLM_FUNC_QUALIFIER fquatSIMD operator+ (fquatSIMD const & q1, fquatSIMD const & q2)
{
return fquatSIMD(_mm_add_ps(q1.Data, q2.Data));
}

//operator*
GLM_FUNC_QUALIFIER fquatSIMD operator* (fquatSIMD const & q1, fquatSIMD const & q2)
{
// SSE2 STATS:
// 11 shuffle
// 8 mul
// 8 add

// SSE4 STATS:
// 3 shuffle
// 4 mul
// 4 dpps

__m128 mul0 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(0, 1, 2, 3)));
__m128 mul1 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(1, 0, 3, 2)));
__m128 mul2 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(2, 3, 0, 1)));
__m128 mul3 = _mm_mul_ps(q1.Data, q2.Data);

# if((GLM_ARCH & GLM_ARCH_SSE4))
__m128 add0 = _mm_dp_ps(mul0, _mm_set_ps(1.0f, -1.0f, 1.0f, 1.0f), 0xff);
__m128 add1 = _mm_dp_ps(mul1, _mm_set_ps(1.0f, 1.0f, 1.0f, -1.0f), 0xff);
__m128 add2 = _mm_dp_ps(mul2, _mm_set_ps(1.0f, 1.0f, -1.0f, 1.0f), 0xff);
__m128 add3 = _mm_dp_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f), 0xff);
# else
mul0 = _mm_mul_ps(mul0, _mm_set_ps(1.0f, -1.0f, 1.0f, 1.0f));
__m128 add0 = _mm_add_ps(mul0, _mm_movehl_ps(mul0, mul0));
add0 = _mm_add_ss(add0, _mm_shuffle_ps(add0, add0, 1));

mul1 = _mm_mul_ps(mul1, _mm_set_ps(1.0f, 1.0f, 1.0f, -1.0f));
__m128 add1 = _mm_add_ps(mul1, _mm_movehl_ps(mul1, mul1));
add1 = _mm_add_ss(add1, _mm_shuffle_ps(add1, add1, 1));

mul2 = _mm_mul_ps(mul2, _mm_set_ps(1.0f, 1.0f, -1.0f, 1.0f));
__m128 add2 = _mm_add_ps(mul2, _mm_movehl_ps(mul2, mul2));
add2 = _mm_add_ss(add2, _mm_shuffle_ps(add2, add2, 1));

mul3 = _mm_mul_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f));
__m128 add3 = _mm_add_ps(mul3, _mm_movehl_ps(mul3, mul3));
add3 = _mm_add_ss(add3, _mm_shuffle_ps(add3, add3, 1));
#endif

// This SIMD code is a politically correct way of doing this, but in every test I’ve tried it has been slower than
// the final code below. I’ll keep this here for reference – maybe somebody else can do something better…
//
//__m128 xxyy = _mm_shuffle_ps(add0, add1, _MM_SHUFFLE(0, 0, 0, 0));
//__m128 zzww = _mm_shuffle_ps(add2, add3, _MM_SHUFFLE(0, 0, 0, 0));
//
//return _mm_shuffle_ps(xxyy, zzww, _MM_SHUFFLE(2, 0, 2, 0));

float x;
float y;
float z;
float w;

_mm_store_ss(&x, add0);
_mm_store_ss(&y, add1);
_mm_store_ss(&z, add2);
_mm_store_ss(&w, add3);

return detail::fquatSIMD(w, x, y, z);
}

GLM_FUNC_QUALIFIER fvec4SIMD operator* (fquatSIMD const & q, fvec4SIMD const & v)
{
static const __m128 two = _mm_set1_ps(2.0f);

__m128 q_wwww = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 3, 3, 3));
__m128 q_swp0 = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 0, 2, 1));
__m128 q_swp1 = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 1, 0, 2));
__m128 v_swp0 = _mm_shuffle_ps(v.Data, v.Data, _MM_SHUFFLE(3, 0, 2, 1));
__m128 v_swp1 = _mm_shuffle_ps(v.Data, v.Data, _MM_SHUFFLE(3, 1, 0, 2));

__m128 uv = _mm_sub_ps(_mm_mul_ps(q_swp0, v_swp1), _mm_mul_ps(q_swp1, v_swp0));
__m128 uv_swp0 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 0, 2, 1));
__m128 uv_swp1 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 1, 0, 2));
__m128 uuv = _mm_sub_ps(_mm_mul_ps(q_swp0, uv_swp1), _mm_mul_ps(q_swp1, uv_swp0));

uv = _mm_mul_ps(uv, _mm_mul_ps(q_wwww, two));
uuv = _mm_mul_ps(uuv, two);

return _mm_add_ps(v.Data, _mm_add_ps(uv, uuv));
}

GLM_FUNC_QUALIFIER fvec4SIMD operator* (fvec4SIMD const & v, fquatSIMD const & q)
{
return glm::inverse(q) * v;
}

GLM_FUNC_QUALIFIER fquatSIMD operator* (fquatSIMD const & q, float s)
{
return fquatSIMD(_mm_mul_ps(q.Data, _mm_set1_ps(s)));
}

GLM_FUNC_QUALIFIER fquatSIMD operator* (float s, fquatSIMD const & q)
{
return fquatSIMD(_mm_mul_ps(_mm_set1_ps(s), q.Data));
}

//operator/
GLM_FUNC_QUALIFIER fquatSIMD operator/ (fquatSIMD const & q, float s)
{
return fquatSIMD(_mm_div_ps(q.Data, _mm_set1_ps(s)));
}

}//namespace detail

GLM_FUNC_QUALIFIER quat quat_cast
(
detail::fquatSIMD const & x
)
{
GLM_ALIGN(16) quat Result;
_mm_store_ps(&Result[0], x.Data);

return Result;
}

template
GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast_impl(const T m0[], const T m1[], const T m2[])
{
T trace = m0[0] + m1[1] + m2[2] + T(1.0);
if (trace > T(0))
{
T s = static_cast(0.5) / sqrt(trace);

return _mm_set_ps(
static_cast(T(0.25) / s),
static_cast((m0[1] – m1[0]) * s),
static_cast((m2[0] – m0[2]) * s),
static_cast((m1[2] – m2[1]) * s));
}
else
{
if (m0[0] > m1[1])
{
if (m0[0] > m2[2])
{
// X is biggest.
T s = sqrt(m0[0] – m1[1] – m2[2] + T(1.0)) * T(0.5);

return _mm_set_ps(
static_cast((m1[2] – m2[1]) * s),
static_cast((m2[0] + m0[2]) * s),
static_cast((m0[1] + m1[0]) * s),
static_cast(T(0.5) * s));
}
}
else
{
if (m1[1] > m2[2])
{
// Y is biggest.
T s = sqrt(m1[1] – m0[0] – m2[2] + T(1.0)) * T(0.5);

return _mm_set_ps(
static_cast((m2[0] – m0[2]) * s),
static_cast((m1[2] + m2[1]) * s),
static_cast(T(0.5) * s),
static_cast((m0[1] + m1[0]) * s));
}
}

// Z is biggest.
T s = sqrt(m2[2] – m0[0] – m1[1] + T(1.0)) * T(0.5);

return _mm_set_ps(
static_cast((m0[1] – m1[0]) * s),
static_cast(T(0.5) * s),
static_cast((m1[2] + m2[1]) * s),
static_cast((m2[0] + m0[2]) * s));
}
}

GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
(
detail::fmat4x4SIMD const & m
)
{
// Scalar implementation for now.
GLM_ALIGN(16) float m0[4];
GLM_ALIGN(16) float m1[4];
GLM_ALIGN(16) float m2[4];

_mm_store_ps(m0, m[0].Data);
_mm_store_ps(m1, m[1].Data);
_mm_store_ps(m2, m[2].Data);

return quatSIMD_cast_impl(m0, m1, m2);
}

template
GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
(
tmat4x4 const & m
)
{
return quatSIMD_cast_impl(&m[0][0], &m[1][0], &m[2][0]);
}

template
GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
(
tmat3x3 const & m
)
{
return quatSIMD_cast_impl(&m[0][0], &m[1][0], &m[2][0]);
}

GLM_FUNC_QUALIFIER detail::fmat4x4SIMD mat4SIMD_cast
(
detail::fquatSIMD const & q
)
{
detail::fmat4x4SIMD result;

__m128 _wwww = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 3, 3, 3));
__m128 _xyzw = q.Data;
__m128 _zxyw = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 1, 0, 2));
__m128 _yzxw = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 0, 2, 1));

__m128 _xyzw2 = _mm_add_ps(_xyzw, _xyzw);
__m128 _zxyw2 = _mm_shuffle_ps(_xyzw2, _xyzw2, _MM_SHUFFLE(3, 1, 0, 2));
__m128 _yzxw2 = _mm_shuffle_ps(_xyzw2, _xyzw2, _MM_SHUFFLE(3, 0, 2, 1));

__m128 _tmp0 = _mm_sub_ps(_mm_set1_ps(1.0f), _mm_mul_ps(_yzxw2, _yzxw));
_tmp0 = _mm_sub_ps(_tmp0, _mm_mul_ps(_zxyw2, _zxyw));

__m128 _tmp1 = _mm_mul_ps(_yzxw2, _xyzw);
_tmp1 = _mm_add_ps(_tmp1, _mm_mul_ps(_zxyw2, _wwww));

__m128 _tmp2 = _mm_mul_ps(_zxyw2, _xyzw);
_tmp2 = _mm_sub_ps(_tmp2, _mm_mul_ps(_yzxw2, _wwww));

// There’s probably a better, more politically correct way of doing this…
result[0].Data = _mm_set_ps(
0.0f,
reinterpret_cast(&_tmp2)[0],
reinterpret_cast(&_tmp1)[0],
reinterpret_cast(&_tmp0)[0]);

result[1].Data = _mm_set_ps(
0.0f,
reinterpret_cast(&_tmp1)[1],
reinterpret_cast(&_tmp0)[1],
reinterpret_cast(&_tmp2)[1]);

result[2].Data = _mm_set_ps(
0.0f,
reinterpret_cast(&_tmp0)[2],
reinterpret_cast(&_tmp2)[2],
reinterpret_cast(&_tmp1)[2]);

result[3].Data = _mm_set_ps(
1.0f,
0.0f,
0.0f,
0.0f);

return result;
}

GLM_FUNC_QUALIFIER mat4 mat4_cast
(
detail::fquatSIMD const & q
)
{
return mat4_cast(mat4SIMD_cast(q));
}

GLM_FUNC_QUALIFIER float length
(
detail::fquatSIMD const & q
)
{
return glm::sqrt(dot(q, q));
}

GLM_FUNC_QUALIFIER detail::fquatSIMD normalize
(
detail::fquatSIMD const & q
)
{
return _mm_mul_ps(q.Data, _mm_set1_ps(1.0f / length(q)));
}

GLM_FUNC_QUALIFIER float dot
(
detail::fquatSIMD const & q1,
detail::fquatSIMD const & q2
)
{
float result;
_mm_store_ss(&result, detail::sse_dot_ps(q1.Data, q2.Data));

return result;
}

GLM_FUNC_QUALIFIER detail::fquatSIMD mix
(
detail::fquatSIMD const & x,
detail::fquatSIMD const & y,
float const & a
)
{
float cosTheta = dot(x, y);

if (cosTheta > 1.0f – glm::epsilon())
{
return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
}
else
{
float angle = glm::acos(cosTheta);

float s0 = glm::sin((1.0f – a) * angle);
float s1 = glm::sin(a * angle);
float d = 1.0f / glm::sin(angle);

return (s0 * x + s1 * y) * d;
}
}

GLM_FUNC_QUALIFIER detail::fquatSIMD lerp
(
detail::fquatSIMD const & x,
detail::fquatSIMD const & y,
float const & a
)
{
// Lerp is only defined in [0, 1]
assert(a >= 0.0f);
assert(a <= 1.0f); return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data))); } GLM_FUNC_QUALIFIER detail::fquatSIMD slerp ( detail::fquatSIMD const & x, detail::fquatSIMD const & y, float const & a ) { detail::fquatSIMD z = y; float cosTheta = dot(x, y); // If cosTheta < 0, the interpolation will take the long way around the sphere. // To fix this, one quat must be negated. if (cosTheta < 0.0f) { z = -y; cosTheta = -cosTheta; } // Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator if(cosTheta > 1.0f – epsilon())
{
return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
}
else
{
float angle = glm::acos(cosTheta);

float s0 = glm::sin((1.0f – a) * angle);
float s1 = glm::sin(a * angle);
float d = 1.0f / glm::sin(angle);

return (s0 * x + s1 * y) * d;
}
}

GLM_FUNC_QUALIFIER detail::fquatSIMD fastMix
(
detail::fquatSIMD const & x,
detail::fquatSIMD const & y,
float const & a
)
{
float cosTheta = dot(x, y);

if (cosTheta > 1.0f – glm::epsilon())
{
return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
}
else
{
float angle = glm::fastAcos(cosTheta);

__m128 s = glm::fastSin(_mm_set_ps((1.0f – a) * angle, a * angle, angle, 0.0f));

__m128 s0 = _mm_shuffle_ps(s, s, _MM_SHUFFLE(3, 3, 3, 3));
__m128 s1 = _mm_shuffle_ps(s, s, _MM_SHUFFLE(2, 2, 2, 2));
__m128 d = _mm_div_ps(_mm_set1_ps(1.0f), _mm_shuffle_ps(s, s, _MM_SHUFFLE(1, 1, 1, 1)));

return _mm_mul_ps(_mm_add_ps(_mm_mul_ps(s0, x.Data), _mm_mul_ps(s1, y.Data)), d);
}
}

GLM_FUNC_QUALIFIER detail::fquatSIMD fastSlerp
(
detail::fquatSIMD const & x,
detail::fquatSIMD const & y,
float const & a
)
{
detail::fquatSIMD z = y;

float cosTheta = dot(x, y);
if (cosTheta < 0.0f) { z = -y; cosTheta = -cosTheta; } if(cosTheta > 1.0f – epsilon())
{
return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
}
else
{
float angle = glm::fastAcos(cosTheta);

__m128 s = glm::fastSin(_mm_set_ps((1.0f – a) * angle, a * angle, angle, 0.0f));

__m128 s0 = _mm_shuffle_ps(s, s, _MM_SHUFFLE(3, 3, 3, 3));
__m128 s1 = _mm_shuffle_ps(s, s, _MM_SHUFFLE(2, 2, 2, 2));
__m128 d = _mm_div_ps(_mm_set1_ps(1.0f), _mm_shuffle_ps(s, s, _MM_SHUFFLE(1, 1, 1, 1)));

return _mm_mul_ps(_mm_add_ps(_mm_mul_ps(s0, x.Data), _mm_mul_ps(s1, y.Data)), d);
}
}

GLM_FUNC_QUALIFIER detail::fquatSIMD conjugate
(
detail::fquatSIMD const & q
)
{
return detail::fquatSIMD(_mm_mul_ps(q.Data, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f)));
}

GLM_FUNC_QUALIFIER detail::fquatSIMD inverse
(
detail::fquatSIMD const & q
)
{
return conjugate(q) / dot(q, q);
}

GLM_FUNC_QUALIFIER detail::fquatSIMD angleAxisSIMD
(
float const & angle,
vec3 const & v
)
{
float s = glm::sin(angle * 0.5f);

return _mm_set_ps(
glm::cos(angle * 0.5f),
v.z * s,
v.y * s,
v.x * s);
}

GLM_FUNC_QUALIFIER detail::fquatSIMD angleAxisSIMD
(
float const & angle,
float const & x,
float const & y,
float const & z
)
{
return angleAxisSIMD(angle, vec3(x, y, z));
}

GLM_FUNC_QUALIFIER __m128 fastSin(__m128 x)
{
static const __m128 c0 = _mm_set1_ps(0.16666666666666666666666666666667f);
static const __m128 c1 = _mm_set1_ps(0.00833333333333333333333333333333f);
static const __m128 c2 = _mm_set1_ps(0.00019841269841269841269841269841f);

__m128 x3 = _mm_mul_ps(x, _mm_mul_ps(x, x));
__m128 x5 = _mm_mul_ps(x3, _mm_mul_ps(x, x));
__m128 x7 = _mm_mul_ps(x5, _mm_mul_ps(x, x));

__m128 y0 = _mm_mul_ps(x3, c0);
__m128 y1 = _mm_mul_ps(x5, c1);
__m128 y2 = _mm_mul_ps(x7, c2);

return _mm_sub_ps(_mm_add_ps(_mm_sub_ps(x, y0), y1), y2);
}

}//namespace glm