Quat Quat::operator /(float scalar) const
{
assume(!EqualAbs(scalar, 0.f));
#ifdef MATH_AUTOMATIC_SSE
return div_ps(q, set1_ps(scalar));
#else
return *this * (1.f / scalar);
#endif
}
/** Implementation based on the math in the book Watt, Policarpo. 3D Games: Real-time rendering and Software Technology, pp. 383-386. */
Quat MUST_USE_RESULT Quat::Slerp(const Quat &q2, float t) const
{
///\todo SSE.
assume(0.f <= t && t <= 1.f);
assume(IsNormalized());
assume(q2.IsNormalized());
float angle = this->Dot(q2);
float sign = 1.f; // Multiply by a sign of +/-1 to guarantee we rotate the shorter arc.
if (angle < 0.f)
{
angle = -angle;
sign = -1.f;
}
float a;
float b;
if (angle <= 0.97f) // perform spherical linear interpolation.
{
angle = Acos(angle); // After this, angle is in the range pi/2 -> 0 as the original angle variable ranged from 0 -> 1.
float angleT = t*angle;
#if defined(MATH_AUTOMATIC_SSE) && defined(MATH_SSE)
// Compute three sines in one go with SSE.
simd4f s = set_ps(0.f, angleT, angle - angleT, angle);
s = sin_ps(s);
simd4f denom = shuffle1_ps(s, _MM_SHUFFLE(0, 0, 0, 0));
s = div_ps(s, denom);
a = s4f_y(s);
b = s4f_z(s);
#else
float s[3] = { Sin(angle), Sin(angle - angleT), Sin(angleT) };
float c = 1.f / s[0];
a = s[1] * c;
b = s[2] * c;
#endif
}
else // If angle is close to taking the denominator to zero, resort to linear interpolation (and normalization).
{
a = 1.f - t;
b = t;
}
return (*this * (a * sign) + q2 * b).Normalized();
}
float3x4 float3x4::operator /(float scalar) const
{
assume(!EqualAbs(scalar, 0));
#ifdef MATH_SIMD
float3x4 r;
simd4f s = set1_ps(scalar);
simd4f one = set1_ps(1.f);
s = div_ps(one, s);
r.row[0] = mul_ps(row[0], s);
r.row[1] = mul_ps(row[1], s);
r.row[2] = mul_ps(row[2], s);
#else
float3x4 r = *this;
r /= scalar;
#endif
return r;
}
float3x4 &float3x4::operator /=(float scalar)
{
assume(!EqualAbs(scalar, 0));
#ifdef MATH_SIMD
simd4f s = set1_ps(scalar);
simd4f one = set1_ps(1.f);
s = div_ps(one, s);
row[0] = mul_ps(row[0], s);
row[1] = mul_ps(row[1], s);
row[2] = mul_ps(row[2], s);
#else
float invScalar = 1.f / scalar;
for(int y = 0; y < Rows; ++y)
for(int x = 0; x < Cols; ++x)
v[y][x] *= invScalar;
#endif
return *this;
}
