272 lines
7.5 KiB
C++
272 lines
7.5 KiB
C++
/**
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* @file llmatrix4a.h
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* @brief LLMatrix4a class header file - memory aligned and vectorized 4x4 matrix
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*
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* $LicenseInfo:firstyear=2007&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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* $/LicenseInfo$
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*/
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#ifndef LL_LLMATRIX4A_H
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#define LL_LLMATRIX4A_H
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#include "llvector4a.h"
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#include "m4math.h"
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#include "m3math.h"
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class LLMatrix4a
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{
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public:
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LL_ALIGN_16(LLVector4a mMatrix[4]);
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LLMatrix4a()
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{
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}
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explicit LLMatrix4a(const LLMatrix4& val)
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{
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loadu(val);
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}
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explicit LLMatrix4a(const F32* val)
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{
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loadu(val);
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}
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static const LLMatrix4a& identity()
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{
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static const F32 v[] =
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{ 1.f, 0.f, 0.f, 0.f,
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0.f, 1.f, 0.f, 0.f,
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0.f, 0.f, 1.f, 0.f,
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0.f, 0.f, 0.f, 1.f
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};
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static LLMatrix4a identity_mat(v);
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return identity_mat;
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}
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bool operator==(const LLMatrix4a& rhs) const
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{
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return mMatrix[0] == rhs.mMatrix[0] && mMatrix[1] == rhs.mMatrix[1] && mMatrix[2] == rhs.mMatrix[2] && mMatrix[3] == rhs.mMatrix[3];
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}
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bool operator!=(const LLMatrix4a& rhs) const
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{
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return !(*this == rhs);
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}
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inline F32* getF32ptr()
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{
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return (F32*) &mMatrix;
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}
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inline const F32* getF32ptr() const
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{
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return (F32*)&mMatrix;
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}
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inline LLMatrix4& asMatrix4()
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{
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return *(LLMatrix4*)this;
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}
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inline const LLMatrix4& asMatrix4() const
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{
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return *(LLMatrix4*)this;
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}
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inline void clear()
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{
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mMatrix[0].clear();
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mMatrix[1].clear();
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mMatrix[2].clear();
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mMatrix[3].clear();
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}
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inline void setIdentity()
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{
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mMatrix[0].set(1.f, 0.f, 0.f, 0.f);
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mMatrix[1].set(0.f, 1.f, 0.f, 0.f);
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mMatrix[2].set(0.f, 0.f, 1.f, 0.f);
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mMatrix[3].set(0.f, 0.f, 0.f, 1.f);
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}
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inline void loadu(const LLMatrix4& src)
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{
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mMatrix[0] = _mm_loadu_ps(src.mMatrix[0]);
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mMatrix[1] = _mm_loadu_ps(src.mMatrix[1]);
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mMatrix[2] = _mm_loadu_ps(src.mMatrix[2]);
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mMatrix[3] = _mm_loadu_ps(src.mMatrix[3]);
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}
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inline void loadu(const F32* src)
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{
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mMatrix[0] = _mm_loadu_ps(src);
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mMatrix[1] = _mm_loadu_ps(src+4);
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mMatrix[2] = _mm_loadu_ps(src+8);
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mMatrix[3] = _mm_loadu_ps(src+12);
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}
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inline void loadu(const LLMatrix3& src)
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{
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mMatrix[0].load3(src.mMatrix[0]);
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mMatrix[1].load3(src.mMatrix[1]);
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mMatrix[2].load3(src.mMatrix[2]);
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mMatrix[3].set(0,0,0,1.f);
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}
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inline void add(const LLMatrix4a& rhs)
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{
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mMatrix[0].add(rhs.mMatrix[0]);
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mMatrix[1].add(rhs.mMatrix[1]);
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mMatrix[2].add(rhs.mMatrix[2]);
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mMatrix[3].add(rhs.mMatrix[3]);
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}
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inline void setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2)
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{
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mMatrix[0] = r0;
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mMatrix[1] = r1;
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mMatrix[2] = r2;
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}
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inline void setMul(const LLMatrix4a& m, const F32 s)
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{
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mMatrix[0].setMul(m.mMatrix[0], s);
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mMatrix[1].setMul(m.mMatrix[1], s);
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mMatrix[2].setMul(m.mMatrix[2], s);
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mMatrix[3].setMul(m.mMatrix[3], s);
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}
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inline void setLerp(const LLMatrix4a& a, const LLMatrix4a& b, F32 w)
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{
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LLVector4a d0,d1,d2,d3;
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d0.setSub(b.mMatrix[0], a.mMatrix[0]);
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d1.setSub(b.mMatrix[1], a.mMatrix[1]);
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d2.setSub(b.mMatrix[2], a.mMatrix[2]);
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d3.setSub(b.mMatrix[3], a.mMatrix[3]);
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// this = a + d*w
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d0.mul(w);
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d1.mul(w);
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d2.mul(w);
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d3.mul(w);
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mMatrix[0].setAdd(a.mMatrix[0],d0);
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mMatrix[1].setAdd(a.mMatrix[1],d1);
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mMatrix[2].setAdd(a.mMatrix[2],d2);
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mMatrix[3].setAdd(a.mMatrix[3],d3);
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}
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inline void rotate(const LLVector4a& v, LLVector4a& res) const
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{
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LLVector4a y,z;
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res = _mm_shuffle_ps(v, v, _MM_SHUFFLE(0, 0, 0, 0));
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y = _mm_shuffle_ps(v, v, _MM_SHUFFLE(1, 1, 1, 1));
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z = _mm_shuffle_ps(v, v, _MM_SHUFFLE(2, 2, 2, 2));
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res.mul(mMatrix[0]);
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y.mul(mMatrix[1]);
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z.mul(mMatrix[2]);
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res.add(y);
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res.add(z);
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}
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inline void affineTransformSSE(const LLVector4a& v, LLVector4a& res) const
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{
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LLVector4a x,y,z;
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x = _mm_shuffle_ps(v, v, _MM_SHUFFLE(0, 0, 0, 0));
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y = _mm_shuffle_ps(v, v, _MM_SHUFFLE(1, 1, 1, 1));
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z = _mm_shuffle_ps(v, v, _MM_SHUFFLE(2, 2, 2, 2));
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x.mul(mMatrix[0]);
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y.mul(mMatrix[1]);
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z.mul(mMatrix[2]);
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x.add(y);
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z.add(mMatrix[3]);
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res.setAdd(x,z);
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}
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inline void affineTransformNonSSE(const LLVector4a& v, LLVector4a& res) const
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{
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F32 x = v[0] * mMatrix[0][0] + v[1] * mMatrix[1][0] + v[2] * mMatrix[2][0] + mMatrix[3][0];
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F32 y = v[0] * mMatrix[0][1] + v[1] * mMatrix[1][1] + v[2] * mMatrix[2][1] + mMatrix[3][1];
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F32 z = v[0] * mMatrix[0][2] + v[1] * mMatrix[1][2] + v[2] * mMatrix[2][2] + mMatrix[3][2];
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F32 w = 1.0f;
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res.set(x,y,z,w);
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}
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inline void affineTransform(const LLVector4a& v, LLVector4a& res) const
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{
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affineTransformSSE(v,res);
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}
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const LLVector4a& getTranslation() const { return mMatrix[3]; }
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};
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inline LLVector4a rowMul(const LLVector4a &row, const LLMatrix4a &mat)
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{
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LLVector4a result;
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result = _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(0, 0, 0, 0)), mat.mMatrix[0]);
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result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(1, 1, 1, 1)), mat.mMatrix[1]));
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result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(2, 2, 2, 2)), mat.mMatrix[2]));
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result = _mm_add_ps(result, _mm_mul_ps(_mm_shuffle_ps(row, row, _MM_SHUFFLE(3, 3, 3, 3)), mat.mMatrix[3]));
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return result;
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}
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inline void matMul(const LLMatrix4a &a, const LLMatrix4a &b, LLMatrix4a &res)
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{
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LLVector4a row0 = rowMul(a.mMatrix[0], b);
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LLVector4a row1 = rowMul(a.mMatrix[1], b);
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LLVector4a row2 = rowMul(a.mMatrix[2], b);
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LLVector4a row3 = rowMul(a.mMatrix[3], b);
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res.mMatrix[0] = row0;
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res.mMatrix[1] = row1;
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res.mMatrix[2] = row2;
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res.mMatrix[3] = row3;
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}
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//Faster version of matMul wehere res must not be a or b
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inline void matMulUnsafe(const LLMatrix4a &a, const LLMatrix4a &b, LLMatrix4a &res)
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{
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res.mMatrix[0] = rowMul(a.mMatrix[0], b);
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res.mMatrix[1] = rowMul(a.mMatrix[1], b);
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res.mMatrix[2] = rowMul(a.mMatrix[2], b);
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res.mMatrix[3] = rowMul(a.mMatrix[3], b);
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}
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inline std::ostream& operator<<(std::ostream& s, const LLMatrix4a& m)
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{
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s << "[" << m.mMatrix[0] << ", " << m.mMatrix[1] << ", " << m.mMatrix[2] << ", " << m.mMatrix[3] << "]";
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return s;
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}
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void matMulBoundBox(const LLMatrix4a &a, const LLVector4a *in_extents, LLVector4a *out_extents);
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#endif
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