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- //
- // Redistribution and use in source and binary forms, with or without
- // modification, are permitted provided that the following conditions
- // are met:
- // * Redistributions of source code must retain the above copyright
- // notice, this list of conditions and the following disclaimer.
- // * Redistributions in binary form must reproduce the above copyright
- // notice, this list of conditions and the following disclaimer in the
- // documentation and/or other materials provided with the distribution.
- // * Neither the name of NVIDIA CORPORATION nor the names of its
- // contributors may be used to endorse or promote products derived
- // from this software without specific prior written permission.
- //
- // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
- // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- //
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
- // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
- #ifndef PSFOUNDATION_PSVECMATHSSE_H
- #define PSFOUNDATION_PSVECMATHSSE_H
-
- namespace physx
- {
- namespace shdfnd
- {
- namespace aos
- {
-
- namespace
- {
- const PX_ALIGN(16, PxF32) minus1w[4] = { 0.0f, 0.0f, 0.0f, -1.0f };
- }
-
- PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
- {
- const __m128 q2 = V4Add(q, q);
- const __m128 qw2 = V4MulAdd(q2, V4GetW(q), _mm_load_ps(minus1w)); // (2wx, 2wy, 2wz, 2ww-1)
- const __m128 nw2 = Vec3V_From_Vec4V(V4Neg(qw2)); // (-2wx, -2wy, -2wz, 0)
- const __m128 v = Vec3V_From_Vec4V(q);
-
- const __m128 a0 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 1, 2, 3)); // (2ww-1, 2wz, -2wy, 0)
- column0 = V4MulAdd(v, V4GetX(q2), a0);
-
- const __m128 a1 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 2, 0, 3)); // (2ww-1, 2wx, -2wz, 0)
- column1 = V4MulAdd(v, V4GetY(q2), _mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 1, 0, 2)));
-
- const __m128 a2 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 0, 1, 3)); // (2ww-1, 2wy, -2wx, 0)
- column2 = V4MulAdd(v, V4GetZ(q2), _mm_shuffle_ps(a2, a2, _MM_SHUFFLE(3, 0, 2, 1)));
- }
-
- } // namespace aos
- } // namespace shdfnd
- } // namespace physx
-
-
- #endif // PSFOUNDATION_PSVECMATHSSE_H
-