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Merged
bvisness merged 2 commits into from
Mar 11, 2019
Merged

Added SSE support for Quaternion operations (#97) #98

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e9b8f6d
Added SSE support for Quaternion operations (#97)
AntonDan Mar 11, 2019
93a18ab
Added release notes and version for 1.9.0
bvisness Mar 11, 2019
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80 changes: 73 additions & 7 deletions HandmadeMath.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
HandmadeMath.h v1.8.0
HandmadeMath.h v1.9.0

This is a single header file with a bunch of useful functions for game and
graphics math operations.
Expand Down Expand Up @@ -83,6 +83,7 @@
Gingerbill (@TheGingerBill)
Ben Visness (@bvisness)
Trinton Bullard (@Peliex_Dev)
@AntonDan

Fixes:
Jeroen van Rijn (@J_vanRijn)
Expand Down Expand Up @@ -379,6 +380,10 @@ typedef union hmm_quaternion
};

float Elements[4];

#ifdef HANDMADE_MATH__USE_SSE
__m128 InternalElementsSSE;
#endif
} hmm_quaternion;

typedef int32_t hmm_bool;
Expand Down Expand Up @@ -1228,10 +1233,14 @@ HMM_INLINE hmm_quaternion HMM_Quaternion(float X, float Y, float Z, float W)
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
Result.InternalElementsSSE = _mm_setr_ps(X, Y, Z, W);
#else
Result.X = X;
Result.Y = Y;
Result.Z = Z;
Result.W = W;
#endif

return (Result);
}
Expand All @@ -1240,10 +1249,14 @@ HMM_INLINE hmm_quaternion HMM_QuaternionV4(hmm_vec4 Vector)
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
Result.InternalElementsSSE = Vector.InternalElementsSSE;
#else
Result.X = Vector.X;
Result.Y = Vector.Y;
Result.Z = Vector.Z;
Result.W = Vector.W;
#endif

return (Result);
}
Expand All @@ -1252,10 +1265,15 @@ HMM_INLINE hmm_quaternion HMM_AddQuaternion(hmm_quaternion Left, hmm_quaternion
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
Result.InternalElementsSSE = _mm_add_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else

Result.X = Left.X + Right.X;
Result.Y = Left.Y + Right.Y;
Result.Z = Left.Z + Right.Z;
Result.W = Left.W + Right.W;
#endif

return (Result);
}
Expand All @@ -1264,10 +1282,15 @@ HMM_INLINE hmm_quaternion HMM_SubtractQuaternion(hmm_quaternion Left, hmm_quater
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
Result.InternalElementsSSE = _mm_sub_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else

Result.X = Left.X - Right.X;
Result.Y = Left.Y - Right.Y;
Result.Z = Left.Z - Right.Z;
Result.W = Left.W - Right.W;
#endif

return (Result);
}
Expand All @@ -1276,10 +1299,28 @@ HMM_INLINE hmm_quaternion HMM_MultiplyQuaternion(hmm_quaternion Left, hmm_quater
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
__m128 SSEResultOne = _mm_xor_ps(_mm_shuffle_ps(Left.InternalElementsSSE, Left.InternalElementsSSE, _MM_SHUFFLE(0, 0, 0, 0)), _mm_setr_ps(0.f, -0.f, 0.f, -0.f));
__m128 SSEResultTwo = _mm_shuffle_ps(Right.InternalElementsSSE, Right.InternalElementsSSE, _MM_SHUFFLE(0, 1, 2, 3));
__m128 SSEResultThree = _mm_mul_ps(SSEResultTwo, SSEResultOne);

SSEResultOne = _mm_xor_ps(_mm_shuffle_ps(Left.InternalElementsSSE, Left.InternalElementsSSE, _MM_SHUFFLE(1, 1, 1, 1)) , _mm_setr_ps(0.f, 0.f, -0.f, -0.f));
SSEResultTwo = _mm_shuffle_ps(Right.InternalElementsSSE, Right.InternalElementsSSE, _MM_SHUFFLE(1, 0, 3, 2));
SSEResultThree = _mm_add_ps(SSEResultThree, _mm_mul_ps(SSEResultTwo, SSEResultOne));

SSEResultOne = _mm_xor_ps(_mm_shuffle_ps(Left.InternalElementsSSE, Left.InternalElementsSSE, _MM_SHUFFLE(2, 2, 2, 2)), _mm_setr_ps(-0.f, 0.f, 0.f, -0.f));
SSEResultTwo = _mm_shuffle_ps(Right.InternalElementsSSE, Right.InternalElementsSSE, _MM_SHUFFLE(2, 3, 0, 1));
SSEResultThree = _mm_add_ps(SSEResultThree, _mm_mul_ps(SSEResultTwo, SSEResultOne));

SSEResultOne = _mm_shuffle_ps(Left.InternalElementsSSE, Left.InternalElementsSSE, _MM_SHUFFLE(3, 3, 3, 3));
SSEResultTwo = _mm_shuffle_ps(Right.InternalElementsSSE, Right.InternalElementsSSE, _MM_SHUFFLE(3, 2, 1, 0));
Result.InternalElementsSSE = _mm_add_ps(SSEResultThree, _mm_mul_ps(SSEResultTwo, SSEResultOne));
#else
Result.X = (Left.X * Right.W) + (Left.Y * Right.Z) - (Left.Z * Right.Y) + (Left.W * Right.X);
Result.Y = (-Left.X * Right.Z) + (Left.Y * Right.W) + (Left.Z * Right.X) + (Left.W * Right.Y);
Result.Z = (Left.X * Right.Y) - (Left.Y * Right.X) + (Left.Z * Right.W) + (Left.W * Right.Z);
Result.W = (-Left.X * Right.X) - (Left.Y * Right.Y) - (Left.Z * Right.Z) + (Left.W * Right.W);
#endif

return (Result);
}
Expand All @@ -1288,10 +1329,15 @@ HMM_INLINE hmm_quaternion HMM_MultiplyQuaternionF(hmm_quaternion Left, float Mul
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
__m128 Scalar = _mm_set1_ps(Multiplicative);
Result.InternalElementsSSE = _mm_mul_ps(Left.InternalElementsSSE, Scalar);
#else
Result.X = Left.X * Multiplicative;
Result.Y = Left.Y * Multiplicative;
Result.Z = Left.Z * Multiplicative;
Result.W = Left.W * Multiplicative;
#endif

return (Result);
}
Expand All @@ -1300,10 +1346,15 @@ HMM_INLINE hmm_quaternion HMM_DivideQuaternionF(hmm_quaternion Left, float Divid
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
__m128 Scalar = _mm_set1_ps(Dividend);
Result.InternalElementsSSE = _mm_div_ps(Left.InternalElementsSSE, Scalar);
#else
Result.X = Left.X / Dividend;
Result.Y = Left.Y / Dividend;
Result.Z = Left.Z / Dividend;
Result.W = Left.W / Dividend;
#endif

return (Result);
}
Expand All @@ -1312,7 +1363,18 @@ HMM_EXTERN hmm_quaternion HMM_InverseQuaternion(hmm_quaternion Left);

HMM_INLINE float HMM_DotQuaternion(hmm_quaternion Left, hmm_quaternion Right)
{
float Result = (Left.X * Right.X) + (Left.Y * Right.Y) + (Left.Z * Right.Z) + (Left.W * Right.W);
float Result;

#ifdef HANDMADE_MATH__USE_SSE
__m128 SSEResultOne = _mm_mul_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
__m128 SSEResultTwo = _mm_shuffle_ps(SSEResultOne, SSEResultOne, _MM_SHUFFLE(2, 3, 0, 1));
SSEResultOne = _mm_add_ps(SSEResultOne, SSEResultTwo);
SSEResultTwo = _mm_shuffle_ps(SSEResultOne, SSEResultOne, _MM_SHUFFLE(0, 1, 2, 3));
SSEResultOne = _mm_add_ps(SSEResultOne, SSEResultTwo);
_mm_store_ss(&Result, SSEResultOne);
#else
Result = (Left.X * Right.X) + (Left.Y * Right.Y) + (Left.Z * Right.Z) + (Left.W * Right.W);
#endif

return (Result);
}
Expand All @@ -1331,11 +1393,18 @@ HMM_INLINE hmm_quaternion HMM_NLerp(hmm_quaternion Left, float Time, hmm_quatern
{
hmm_quaternion Result;

#ifdef HANDMADE_MATH__USE_SSE
__m128 ScalarLeft = _mm_set1_ps(1.0f - Time);
__m128 ScalarRight = _mm_set1_ps(Time);
__m128 SSEResultOne = _mm_mul_ps(Left.InternalElementsSSE, ScalarLeft);
__m128 SSEResultTwo = _mm_mul_ps(Right.InternalElementsSSE, ScalarRight);
Result.InternalElementsSSE = _mm_add_ps(SSEResultOne, SSEResultTwo);
#else
Result.X = HMM_Lerp(Left.X, Time, Right.X);
Result.Y = HMM_Lerp(Left.Y, Time, Right.Y);
Result.Z = HMM_Lerp(Left.Z, Time, Right.Z);
Result.W = HMM_Lerp(Left.W, Time, Right.W);

#endif
Result = HMM_NormalizeQuaternion(Result);

return (Result);
Expand Down Expand Up @@ -2343,10 +2412,7 @@ hmm_quaternion HMM_InverseQuaternion(hmm_quaternion Left)
Norm = HMM_SquareRootF(HMM_DotQuaternion(Left, Left));
NormSquared = Norm * Norm;

Result.X = Conjugate.X / NormSquared;
Result.Y = Conjugate.Y / NormSquared;
Result.Z = Conjugate.Z / NormSquared;
Result.W = Conjugate.W / NormSquared;
Result = HMM_DivideQuaternionF(Conjugate, NormSquared);

return (Result);
}
Expand Down
1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -10,6 +10,7 @@ To get started, go download [the latest release](https://github.com/HandmadeMath

Version | Changes |
----------------|----------------|
**1.9.0** | Added SSE versions of quaternion operations. |
**1.8.0** | Added fast vector normalization routines that use fast inverse square roots.
**1.7.1** | Changed operator[] to take a const ref int instead of an int.
**1.7.0** | Renamed the 'Rows' member of hmm_mat4 to 'Columns'. Since our matrices are column-major, this should have been named 'Columns' from the start. 'Rows' is still present, but has been deprecated.
Expand Down