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optimize normalize quaternion with SIMD

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* provide _to version for storing into another quat
This commit is contained in:
Recep Aslantas
2018-04-11 00:17:41 +03:00
parent 5dec68823c
commit 010dcc9837
2 changed files with 48 additions and 10 deletions
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48
include/cglm/quat.h
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@@ -158,6 +158,43 @@ glm_quat_norm(versor q) {
return glm_vec4_norm(q);
}
/*!
* @brief normalize quaternion and store result in dest
*
* @param[in] q quaternion to normalze
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_normalize_to(versor q, versor dest) {
#if defined( __SSE2__ ) || defined( __SSE2__ )
__m128 xdot, x0;
float dot;
x0 = _mm_load_ps(q);
xdot = glm_simd_dot(x0, x0);
dot = _mm_cvtss_f32(xdot);
if (dot <= 0.0f) {
glm_quat_identity(dest);
return;
}
_mm_store_ps(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
#else
float dot;
dot = glm_vec4_norm2(q);
if (dot <= 0.0f) {
glm_quat_identity(q);
return;
}
glm_vec4_scale(q, 1.0f / sqrtf(dot), dest);
#endif
}
/*!
* @brief normalize quaternion
*
@@ -166,16 +203,7 @@ glm_quat_norm(versor q) {
CGLM_INLINE
void
glm_quat_normalize(versor q) {
float sum;
sum = glm_vec4_norm2(q);
if (sum <= 0.0f) {
glm_quat_identity(q);
return;
}
glm_vec4_scale(q, 1.0f / sqrtf(sum), q);
glm_quat_normalize_to(q, q);
}
/*!

10
include/cglm/simd/intrin.h
View File

@@ -30,6 +30,16 @@
# define _mm_shuffle2_ps(a, b, z0, y0, x0, w0, z1, y1, x1, w1) \
_mm_shuffle1_ps(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)), \
z1, y1, x1, w1)
CGLM_INLINE
__m128
glm_simd_dot(__m128 a, __m128 b) {
__m128 x0;
x0 = _mm_mul_ps(a, b);
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
return _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1));
}
#endif
/* x86, x64 */