/indra/llmath/llmatrix3a.inl

/** 
 * @file llmatrix3a.inl
 * @brief LLMatrix3a inline definitions
 *
 * $LicenseInfo:firstyear=2010&license=viewerlgpl$
 * Second Life Viewer Source Code
 * Copyright (C) 2010, Linden Research, Inc.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation;
 * version 2.1 of the License only.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 * 
 * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
 * $/LicenseInfo$
 */

#include "llmatrix3a.h"
#include "m3math.h"

inline LLMatrix3a::LLMatrix3a( const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2 )
{
	setColumns( c0, c1, c2 );
}

inline void LLMatrix3a::loadu(const LLMatrix3& src)
{
	mColumns[0].load3(src.mMatrix[0]);
	mColumns[1].load3(src.mMatrix[1]);
	mColumns[2].load3(src.mMatrix[2]);
}

inline void LLMatrix3a::setRows(const LLVector4a& r0, const LLVector4a& r1, const LLVector4a& r2)
{
	mColumns[0] = r0;
	mColumns[1] = r1;
	mColumns[2] = r2;
	setTranspose( *this );
}

inline void LLMatrix3a::setColumns(const LLVector4a& c0, const LLVector4a& c1, const LLVector4a& c2)
{
	mColumns[0] = c0;
	mColumns[1] = c1;
	mColumns[2] = c2;
}

inline void LLMatrix3a::setTranspose(const LLMatrix3a& src)
{
	const LLQuad srcCol0 = src.mColumns[0];
	const LLQuad srcCol1 = src.mColumns[1];
	const LLQuad unpacklo = _mm_unpacklo_ps( srcCol0, srcCol1 );
	mColumns[0] = _mm_movelh_ps( unpacklo, src.mColumns[2] );
	mColumns[1] = _mm_shuffle_ps( _mm_movehl_ps( srcCol0, unpacklo ), src.mColumns[2], _MM_SHUFFLE(0, 1, 1, 0) );
	mColumns[2] = _mm_shuffle_ps( _mm_unpackhi_ps( srcCol0, srcCol1 ), src.mColumns[2], _MM_SHUFFLE(0, 2, 1, 0) );
}

inline const LLVector4a& LLMatrix3a::getColumn(const U32 column) const
{
	llassert( column < 3 );
	return mColumns[column];
}

inline void LLMatrix3a::setLerp(const LLMatrix3a& a, const LLMatrix3a& b, F32 w)
{
	mColumns[0].setLerp( a.mColumns[0], b.mColumns[0], w );
	mColumns[1].setLerp( a.mColumns[1], b.mColumns[1], w );
	mColumns[2].setLerp( a.mColumns[2], b.mColumns[2], w );
}

inline LLBool32 LLMatrix3a::isFinite() const
{
	return mColumns[0].isFinite3() && mColumns[1].isFinite3() && mColumns[2].isFinite3();
}

inline void LLMatrix3a::getDeterminant( LLVector4a& dest ) const
{
	LLVector4a col1xcol2; col1xcol2.setCross3( mColumns[1], mColumns[2] );
	dest.setAllDot3( col1xcol2, mColumns[0] );
}

inline LLSimdScalar LLMatrix3a::getDeterminant() const
{
	LLVector4a col1xcol2; col1xcol2.setCross3( mColumns[1], mColumns[2] );
	return col1xcol2.dot3( mColumns[0] );
}

inline bool LLMatrix3a::isApproximatelyEqual( const LLMatrix3a& rhs, F32 tolerance /*= F_APPROXIMATELY_ZERO*/ ) const
{
	return rhs.getColumn(0).equals3(mColumns[0], tolerance) 
		&& rhs.getColumn(1).equals3(mColumns[1], tolerance) 
		&& rhs.getColumn(2).equals3(mColumns[2], tolerance); 
}

inline const LLMatrix3a& LLMatrix3a::getIdentity()
{
	extern const LLMatrix3a LL_M3A_IDENTITY;
	return LL_M3A_IDENTITY;
}

inline bool LLRotation::isOkRotation() const
{
	LLMatrix3a transpose; transpose.setTranspose( *this );
	LLMatrix3a product; product.setMul( *this, transpose );

	LLSimdScalar detMinusOne = getDeterminant() - 1.f;

	return product.isApproximatelyEqual( LLMatrix3a::getIdentity() ) && (detMinusOne.getAbs() < F_APPROXIMATELY_ZERO);
}