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physx/source/foundation/include/PsVecMathSSE.h

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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
+