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arm, neon: implement mat4 inv with neon

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This commit is contained in:
Recep Aslantas
2021-04-24 17:54:01 +03:00
parent a111693b6b
commit afac887850
2 changed files with 134 additions and 0 deletions
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2
include/cglm/mat4.h
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@@ -597,6 +597,8 @@ void
glm_mat4_inv(mat4 mat, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_inv_sse2(mat, dest);
#elif defined(CGLM_NEON_FP)
glm_mat4_inv_neon(mat, dest);
#else
float t[6];
float det;

132
include/cglm/simd/neon/mat4.h
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@@ -171,5 +171,137 @@ glm_mat4_det_neon(mat4 mat) {
return glmm_hadd(vmulq_f32(x2, r0));
}
CGLM_INLINE
void
glm_mat4_inv_neon(mat4 mat, mat4 dest) {
float32x4_t r0, r1, r2, r3,
v0, v1, v2, v3,
t0, t1, t2, t3, t4, t5,
x0, x1, x2, x3, x4, x5, x6, x7, x8;
float32x4x2_t a1;
float32x2_t lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
float32x4_t x9 = { -0.f, 0.f, -0.f, 0.f };
x8 = vrev64q_f32(x9);
/* 127 <- 0 */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = glmm_load(mat[1]); /* h g f e */
r2 = glmm_load(mat[2]); /* l k j i */
r3 = glmm_load(mat[3]); /* p o n m */
/* l p k o, j n i m */
a1 = vzipq_f32(r3, r2);
jn = vget_high_f32(a1.val[0]);
im = vget_low_f32(a1.val[0]);
lp = vget_high_f32(a1.val[1]);
ko = vget_low_f32(a1.val[1]);
hg = vget_high_f32(r1);
x1 = vcombine_f32(vdup_lane_f32(lp, 0), lp); /* l p p p */
x2 = vcombine_f32(vdup_lane_f32(ko, 0), ko); /* k o o o */
x0 = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
x3 = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
/* t1[0] = k * p - o * l;
t1[0] = k * p - o * l;
t2[0] = g * p - o * h;
t3[0] = g * l - k * h; */
t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
fe = vget_low_f32(r1);
x4 = vcombine_f32(vdup_lane_f32(jn, 0), jn); /* j n n n */
x5 = vcombine_f32(vdup_lane_f32(jn, 1), vdup_lane_f32(fe, 1)); /* f f j j */
/* t1[1] = j * p - n * l;
t1[1] = j * p - n * l;
t2[1] = f * p - n * h;
t3[1] = f * l - j * h; */
t1 = glmm_fnmadd(x4, x0, vmulq_f32(x5, x1));
/* t1[2] = j * o - n * k
t1[2] = j * o - n * k;
t2[2] = f * o - n * g;
t3[2] = f * k - j * g; */
t2 = glmm_fnmadd(x4, x3, vmulq_f32(x5, x2));
x6 = vcombine_f32(vdup_lane_f32(im, 1), vdup_lane_f32(fe, 0)); /* e e i i */
x7 = vcombine_f32(vdup_lane_f32(im, 0), im); /* i m m m */
/* t1[3] = i * p - m * l;
t1[3] = i * p - m * l;
t2[3] = e * p - m * h;
t3[3] = e * l - i * h; */
t3 = glmm_fnmadd(x7, x0, vmulq_f32(x6, x1));
/* t1[4] = i * o - m * k;
t1[4] = i * o - m * k;
t2[4] = e * o - m * g;
t3[4] = e * k - i * g; */
t4 = glmm_fnmadd(x7, x3, vmulq_f32(x6, x2));
/* t1[5] = i * n - m * j;
t1[5] = i * n - m * j;
t2[5] = e * n - m * f;
t3[5] = e * j - i * f; */
t5 = glmm_fnmadd(x7, x5, vmulq_f32(x6, x4));
/* h d f b, g c e a */
a1 = vtrnq_f32(r0, r1);
x4 = vrev64q_f32(a1.val[0]); /* c g a e */
x5 = vrev64q_f32(a1.val[1]); /* d h b f */
ae = vget_low_f32(x4);
cg = vget_high_f32(x4);
bf = vget_low_f32(x5);
dh = vget_high_f32(x5);
x0 = vcombine_f32(ae, vdup_lane_f32(ae, 1)); /* a a a e */
x1 = vcombine_f32(bf, vdup_lane_f32(bf, 1)); /* b b b f */
x2 = vcombine_f32(cg, vdup_lane_f32(cg, 1)); /* c c c g */
x3 = vcombine_f32(dh, vdup_lane_f32(dh, 1)); /* d d d h */
/*
dest[0][0] = f * t1[0] - g * t1[1] + h * t1[2];
dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
dest[0][2] = b * t2[0] - c * t2[1] + d * t2[2];
dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
v0 = glmm_xor(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, vmulq_f32(x1, t0))), x8);
/*
dest[2][0] = e * t1[1] - f * t1[3] + h * t1[5];
dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
dest[2][2] = a * t2[1] - b * t2[3] + d * t2[5];
dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
v2 = glmm_xor(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, vmulq_f32(x0, t1))), x8);
/*
dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
dest[1][1] = a * t1[0] - c * t1[3] + d * t1[4];
dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
dest[1][3] = a * t3[0] - c * t3[3] + d * t3[4]; */
v1 = glmm_xor(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, vmulq_f32(x0, t0))), x9);
/*
dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
dest[3][1] = a * t1[2] - b * t1[4] + c * t1[5];
dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
dest[3][3] = a * t3[2] - b * t3[4] + c * t3[5]; */
v3 = glmm_xor(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, vmulq_f32(x0, t2))), x9);
/* determinant */
x0 = vcombine_f32(vget_low_f32(vzipq_f32(v0, v1).val[0]),
vget_low_f32(vzipq_f32(v2, v3).val[0]));
x0 = glmm_div(glmm_set1(1.0f), glmm_vhadd(vmulq_f32(x0, r0)));
glmm_store(dest[0], vmulq_f32(v0, x0));
glmm_store(dest[1], vmulq_f32(v1, x0));
glmm_store(dest[2], vmulq_f32(v2, x0));
glmm_store(dest[3], vmulq_f32(v3, x0));
}
#endif
#endif /* cglm_mat4_neon_h */