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arm, neon: neon/fma support for glm_inv_tr()

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Recep Aslantas
2021-04-28 14:46:14 +03:00
parent e4c35e32fc
commit 55ebbdbe40
3 changed files with 63 additions and 0 deletions
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2
include/cglm/affine-mat.h
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@@ -158,6 +158,8 @@ void
glm_inv_tr(mat4 mat) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_inv_tr_sse2(mat);
#elif defined(CGLM_NEON_FP)
glm_inv_tr_neon(mat);
#else
CGLM_ALIGN_MAT mat3 r;
CGLM_ALIGN(8) vec3 t;

36
include/cglm/simd/neon/affine.h
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@@ -76,5 +76,41 @@ glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
glmm_store(dest[3], glmm_load(m1[3]));
}
CGLM_INLINE
void
glm_inv_tr_neon(mat4 mat) {
float32x4x4_t vmat;
glmm_128 r0, r1, r2, r3, x0;
vmat = vld4q_f32(mat[0]);
r0 = vmat.val[0];
r1 = vmat.val[1];
r2 = vmat.val[2];
r3 = vmat.val[3];
x0 = glmm_fmadd(r0, glmm_splat_w(r0),
glmm_fmadd(r1, glmm_splat_w(r1),
vmulq_f32(r2, glmm_splat_w(r2))));
x0 = glmm_xor(x0, glmm_set1(-0.f));
glmm_store(mat[0], r0);
glmm_store(mat[1], r1);
glmm_store(mat[2], r2);
glmm_store(mat[3], x0);
mat[0][3] = 0.0f;
mat[1][3] = 0.0f;
mat[2][3] = 0.0f;
mat[3][3] = 1.0f;
/* TODO: ?
zo = vget_high_f32(r3);
vst1_lane_f32(&mat[0][3], zo, 0);
vst1_lane_f32(&mat[1][3], zo, 0);
vst1_lane_f32(&mat[2][3], zo, 0);
vst1_lane_f32(&mat[3][3], zo, 1);
*/
}
#endif
#endif /* cglm_affine_neon_h */

25
test/src/test_affine_mat.h
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@@ -7,6 +7,25 @@
#include "test_common.h"
#ifndef glm_affine_mat_test_guard
#define glm_affine_mat_test_guard
CGLM_INLINE
void
glm_inv_tr_raw(mat4 mat) {
CGLM_ALIGN_MAT mat3 r;
CGLM_ALIGN(8) vec3 t;
/* rotate */
glm_mat4_pick3t(mat, r);
glm_mat4_ins3(r, mat);
/* translate */
glm_mat3_mulv(r, mat[3], t);
glm_vec3_negate(t);
glm_vec3_copy(t, mat[3]);
}
#endif
TEST_IMPL(GLM_PREFIX, mul) {
mat4 m1 = GLM_MAT4_IDENTITY_INIT;
mat4 m2 = GLM_MAT4_IDENTITY_INIT;
@@ -81,6 +100,12 @@ TEST_IMPL(GLM_PREFIX, inv_tr) {
GLM(mat4_inv)(m1, m2);
GLM(inv_tr)(m2);
ASSERTIFY(test_assert_mat4_eq(m1, m2))
/* test with raw */
glm_mat4_copy(m1, m2);
glm_inv_tr_raw(m2);
GLM(inv_tr)(m1);
ASSERTIFY(test_assert_mat4_eq(m1, m2))
}
TEST_SUCCESS