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external/cglm/simd/neon/mat4.h
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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_mat4_neon_h
#define cglm_mat4_neon_h
#if defined(CGLM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mat4_scale_neon(mat4 m, float s) {
float32x4_t v0;
v0 = vdupq_n_f32(s);
vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
}
CGLM_INLINE
void
glm_mat4_transp_neon(mat4 m, mat4 dest) {
float32x4x4_t vmat;
vmat = vld4q_f32(m[0]);
vst1q_f32(dest[0], vmat.val[0]);
vst1q_f32(dest[1], vmat.val[1]);
vst1q_f32(dest[2], vmat.val[2]);
vst1q_f32(dest[3], vmat.val[3]);
}
CGLM_INLINE
void
glm_mat4_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);
l = glmm_load(m1[3]);
v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_w(r3), l, 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_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
float32x4_t l0, l1, l2, l3;
float32x2_t vlo, vhi;
l0 = vld1q_f32(m[0]);
l1 = vld1q_f32(m[1]);
l2 = vld1q_f32(m[2]);
l3 = vld1q_f32(m[3]);
vlo = vld1_f32(&v[0]);
vhi = vld1_f32(&v[2]);
l0 = vmulq_lane_f32(l0, vlo, 0);
l0 = vmlaq_lane_f32(l0, l1, vlo, 1);
l0 = vmlaq_lane_f32(l0, l2, vhi, 0);
l0 = vmlaq_lane_f32(l0, l3, vhi, 1);
vst1q_f32(dest, l0);
}
CGLM_INLINE
float
glm_mat4_det_neon(mat4 mat) {
float32x4_t r0, r1, r2, r3, x0, x1, x2;
float32x2_t ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
float32x4x2_t a1;
float32x4_t x3 = glmm_float32x4_SIGNMASK_PNPN;
/* 127 <- 0, [square] det(A) = det(At) */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
gh = vget_high_f32(r1);
ef = vget_low_f32(r1);
kl = vget_high_f32(r2);
ij = vget_low_f32(r2);
op = vget_high_f32(r3);
mn = vget_low_f32(r3);
mm = vdup_lane_f32(mn, 1);
nn = vdup_lane_f32(mn, 0);
ii = vdup_lane_f32(ij, 1);
jj = vdup_lane_f32(ij, 0);
/*
t[1] = j * p - n * l;
t[2] = j * o - n * k;
t[3] = i * p - m * l;
t[4] = i * o - m * k;
*/
x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
t12 = vget_low_f32(x0);
t34 = vget_high_f32(x0);
/* 1 3 1 3 2 4 2 4 */
a1 = vuzpq_f32(x0, x0);
/*
t[0] = k * p - o * l;
t[0] = k * p - o * l;
t[5] = i * n - m * j;
t[5] = i * n - m * j;
*/
x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
vcombine_f32(vdup_lane_f32(op, 1), mm),
vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
vcombine_f32(vdup_lane_f32(kl, 1), ii)));
/*
a * (f * t[0] - g * t[1] + h * t[2])
- b * (e * t[0] - g * t[3] + h * t[4])
+ c * (e * t[1] - f * t[3] + h * t[5])
- d * (e * t[2] - f * t[4] + g * t[5])
*/
x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
vcombine_f32(vget_low_f32(a1.val[0]), t34),
vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
vcombine_f32(vget_low_f32(x1), t12)));
x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
x2 = glmm_xor(x2, x3);
return glmm_hadd(vmulq_f32(x2, r0));
}
/* old one */
#if 0
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 = glmm_float32x4_SIGNMASK_NPNP;
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_rval(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));
*/
x0 = glmm_vhadd(vmulq_f32(x0, r0));
glmm_store(dest[0], glmm_div(v0, x0));
glmm_store(dest[1], glmm_div(v1, x0));
glmm_store(dest[2], glmm_div(v2, x0));
glmm_store(dest[3], glmm_div(v3, x0));
}
#endif
CGLM_INLINE
void
glm_mat4_inv_neon(mat4 mat, mat4 dest) {
float32x4_t r0, r1, r2, r3,
v0, v1, v2, v3, v4, v5,
t0, t1, t2;
float32x4x2_t a0, a1, a2, a3, a4;
float32x4_t s1 = glmm_float32x4_SIGNMASK_PNPN, s2;
#if !CGLM_ARM64
float32x2_t l0, l1;
#endif
s2 = vrev64q_f32(s1);
/* 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 */
a1 = vzipq_f32(r0, r2); /* l d k c, j b i a */
a2 = vzipq_f32(r1, r3); /* p h o g, n f m e */
a3 = vzipq_f32(a2.val[0], a1.val[0]); /* j n b f, i m a e */
a4 = vzipq_f32(a2.val[1], a1.val[1]); /* l p d h, k o c g */
v0 = vextq_f32(a1.val[0], a1.val[1], 2); /* k c j b */
v1 = vextq_f32(a2.val[0], a2.val[1], 2); /* o g n f */
v2 = vextq_f32(a1.val[1], a2.val[0], 2); /* m e l d */
v3 = vextq_f32(a2.val[1], a1.val[0], 2); /* i a p h */
v4 = vextq_f32(v1, v2, 2); /* l d o g */
v5 = vextq_f32(v0, v3, 2); /* p h k c */
/* c2 = c * h - g * d c12 = a * g - c * e c8 = a * f - b * e
c1 = k * p - o * l c11 = i * o - k * m c7 = i * n - j * m
c4 = h * a - d * e c6 = b * h - d * f c10 = b * g - c * f
c3 = p * i - l * m c5 = j * p - l * n c9 = j * o - k * n */
t0 = vmulq_f32(v5, v3);
t1 = vmulq_f32(a1.val[0], a2.val[1]);
t2 = vmulq_f32(a1.val[0], v1);
t0 = glmm_fnmadd(v4, v2, t0);
t1 = glmm_fnmadd(a1.val[1], a2.val[0], t1);
t2 = glmm_fnmadd(v0, a2.val[0], t2);
t0 = vrev64q_f32(t0);
t1 = vrev64q_f32(t1);
t2 = vrev64q_f32(t2);
/* det */
v0 = vrev64q_f32(t2);
v1 = vextq_f32(t1, t1, 2);
v0 = vmulq_f32(t0, v0);
v1 = vrev64q_f32(v1);
v1 = vmulq_f32(v1, t1);
/* c3 * c10 + c4 * c9 + c1 * c8 + c2 * c7 */
#if CGLM_ARM64
v0 = vpaddq_f32(v0, v0);
v0 = vpaddq_f32(v0, v0);
#else
l0 = vget_low_f32(v0);
l1 = vget_high_f32(v0);
l0 = vpadd_f32(l0, l0); /* [a+b, a+b] */
l1 = vpadd_f32(l1, l1); /* [c+d, c+d] */
l0 = vadd_f32(l0, l1); /* [sum, sum] */
v0 = vcombine_f32(l0, l0);
#endif
/* c5 * c12 + c6 * c11 */
#if CGLM_ARM64
v1 = vpaddq_f32(v1, v1);
#else
l0 = vget_low_f32(v1);
l1 = vget_high_f32(v1);
l0 = vpadd_f32(l0, l0); /* [a+b, a+b] */
l1 = vpadd_f32(l1, l1); /* [c+d, c+d] */
v1 = vcombine_f32(l0, l1);
#endif
v0 = vsubq_f32(v0, v1); /* det */
/* inv div */
v1 = vdupq_n_f32(1.0f);
v0 = glmm_div(v1, v0); /* inv div */
/* multiply t0,t1,t2 by idt to reduce 1mul below: 2eor+4mul vs 3mul+4eor */
t0 = vmulq_f32(t0, v0);
t1 = vmulq_f32(t1, v0);
t2 = vmulq_f32(t2, v0);
a0 = vzipq_f32(t0, t0); /* c4 c4 c3 c3, c2 c2 c1 c1 */
a1 = vzipq_f32(t1, t1); /* c6 c6 c5 c5, c12 c12 c11 c11 */
a2 = vzipq_f32(t2, t2); /* c10 c10 c9 c9, c8 c8 c7 c7 */
/* result */
/* dest[0][0] = (f * c1 - g * c5 + h * c9) * idt;
dest[0][1] = (b * c1 - c * c5 + d * c9) * ndt;
dest[0][2] = (n * c2 - o * c6 + p * c10) * idt;
dest[0][3] = (j * c2 - k * c6 + l * c10) * ndt;
dest[1][0] = (e * c1 - g * c3 + h * c11) * ndt;
dest[1][1] = (a * c1 - c * c3 + d * c11) * idt;
dest[1][2] = (m * c2 - o * c4 + p * c12) * ndt;
dest[1][3] = (i * c2 - k * c4 + l * c12) * idt;
dest[2][0] = (e * c5 - f * c3 + h * c7) * idt;
dest[2][1] = (a * c5 - b * c3 + d * c7) * ndt;
dest[2][2] = (m * c6 - n * c4 + p * c8) * idt;
dest[2][3] = (i * c6 - j * c4 + l * c8) * ndt;
dest[3][0] = (e * c9 - f * c11 + g * c7) * ndt;
dest[3][1] = (a * c9 - b * c11 + c * c7) * idt;
dest[3][2] = (m * c10 - n * c12 + o * c8) * ndt;
dest[3][3] = (i * c10 - j * c12 + k * c8) * idt; */
r0 = vmulq_f32(a3.val[1], a0.val[0]);
r1 = vmulq_f32(a3.val[0], a0.val[0]);
r2 = vmulq_f32(a3.val[0], a1.val[1]);
r3 = vmulq_f32(a3.val[0], a2.val[1]);
r0 = glmm_fnmadd(a4.val[0], a1.val[1], r0);
r1 = glmm_fnmadd(a4.val[0], a0.val[1], r1);
r2 = glmm_fnmadd(a3.val[1], a0.val[1], r2);
r3 = glmm_fnmadd(a3.val[1], a1.val[0], r3);
r0 = glmm_fmadd(a4.val[1], a2.val[1], r0);
r1 = glmm_fmadd(a4.val[1], a1.val[0], r1);
r2 = glmm_fmadd(a4.val[1], a2.val[0], r2);
r3 = glmm_fmadd(a4.val[0], a2.val[0], r3);
/* 4xor may be fastart then 4mul, see above */
r0 = glmm_xor(r0, s1);
r1 = glmm_xor(r1, s2);
r2 = glmm_xor(r2, s1);
r3 = glmm_xor(r3, s2);
glmm_store(dest[0], r0);
glmm_store(dest[1], r1);
glmm_store(dest[2], r2);
glmm_store(dest[3], r3);
}
#endif
#endif /* cglm_mat4_neon_h */