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optimize mat4 to quaternion

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* add SSE2 version and optimize scalar version
This commit is contained in:
Recep Aslantas
2018-04-08 12:31:32 +03:00
parent 81bda7439d
commit 932f638d5a
2 changed files with 74 additions and 11 deletions
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34
include/cglm/mat4.h
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@@ -343,25 +343,38 @@ glm_mat4_mulq(mat4 m, versor q, mat4 dest) {
CGLM_INLINE
void
glm_mat4_quat(mat4 m, versor dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_quat_sse2(m, dest);
#else
vec4 vsgn, vzero = GLM_VEC4_ZERO_INIT;
versor q;
float m00, m10, m20,
m01, m11, m21,
m02, m12, m22;
m00 = m[0][0]; m10 = m[1][0]; m20 = m[2][0];
m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
m02 = m[0][2]; m12 = m[1][2]; m22 = m[2][2];
m00 = m[0][0]; m01 = m[0][1]; m02 = m[0][2];
m10 = m[1][0]; m11 = m[1][1]; m12 = m[1][2];
m20 = m[2][0]; m21 = m[2][1]; m22 = m[2][2];
q[0] = sqrtf(glm_max(0.0f, 1.0f + m00 + m11 + m22)) * 0.5f; /* w */
q[1] = sqrtf(glm_max(0.0f, 1.0f + m00 - m11 - m22)) * 0.5f; /* x */
q[2] = sqrtf(glm_max(0.0f, 1.0f - m00 + m11 - m22)) * 0.5f; /* y */
q[3] = sqrtf(glm_max(0.0f, 1.0f - m00 - m11 + m22)) * 0.5f; /* z */
q[0] = 1.0f + m00 + m11 + m22; /* w */
q[1] = 1.0f + m00 - m11 - m22; /* x */
q[2] = 1.0f - m00 + m11 - m22; /* y */
q[3] = 1.0f - m00 - m11 + m22; /* z */
q[1] *= glm_signf(m12 - m21);
q[2] *= glm_signf(m20 - m02);
q[3] *= glm_signf(m01 - m10);
glm_vec4_maxv(q, vzero, q);
glm_vec4_sqrt(q, q);
glm_vec4_scale(q, 0.5f, q);
vsgn[0] = 1.0f;
vsgn[1] = m12 - m21;
vsgn[2] = m20 - m02;
vsgn[3] = m01 - m10;
glm_vec4_sign(vsgn, vsgn);
glm_vec4_mulv(q, vsgn, q);
glm_vec4_copy(q, dest);
#endif
}
/*!
@@ -614,5 +627,4 @@ glm_mat4_swap_row(mat4 mat, int row1, int row2) {
mat[3][row2] = tmp[3];
}
#else
#endif /* cglm_mat_h */