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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_neon_h
#define cglm_affine_neon_h
#if defined(CGLM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
r3 = glmm_load(m2[3]);
v0 = vmulq_f32(glmm_splat_x(r0), l);
v1 = vmulq_f32(glmm_splat_x(r1), l);
v2 = vmulq_f32(glmm_splat_x(r2), l);
v3 = vmulq_f32(glmm_splat_x(r3), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
v3 = glmm_fmadd(glmm_splat_w(r3), glmm_load(m1[3]), v3);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], v3);
}
CGLM_INLINE
void
glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, v0, v1, v2;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
v0 = vmulq_f32(glmm_splat_x(r0), l);
v1 = vmulq_f32(glmm_splat_x(r1), l);
v2 = vmulq_f32(glmm_splat_x(r2), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
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, x0;
vmat = vld4q_f32(mat[0]);
r0 = vmat.val[0];
r1 = vmat.val[1];
r2 = vmat.val[2];
x0 = glmm_fmadd(r0, glmm_splat_w(r0),
glmm_fmadd(r1, glmm_splat_w(r1),
vmulq_f32(r2, glmm_splat_w(r2))));
x0 = vnegq_f32(x0);
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 */
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