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Reimplemented XMMatrixRotationRollPitchYaw(FromVector) (#144)

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Chuck Walbourn 2022-01-17 23:21:31 -08:00 committed by GitHub
parent 706722d8bc
commit 6be498ca16
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1 changed files with 96 additions and 2 deletions
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98
Inc/DirectXMathMatrix.inl
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@ -1655,8 +1655,41 @@ inline XMMATRIX XM_CALLCONV XMMatrixRotationRollPitchYaw
float Roll
) noexcept
{
#if defined(_XM_NO_INTRINSICS_)
float cp = cosf(Pitch);
float sp = sinf(Pitch);
float cy = cosf(Yaw);
float sy = sinf(Yaw);
float cr = cosf(Roll);
float sr = sinf(Roll);
XMMATRIX M;
M.m[0][0] = cr * cy + sr * sp * sy;
M.m[0][1] = sr * cp;
M.m[0][2] = sr * sp * cy - cr * sy;
M.m[0][3] = 0.0f;
M.m[1][0] = cr * sp * sy - sr * cy;
M.m[1][1] = cr * cp;
M.m[1][2] = sr * sy + cr * sp * cy;
M.m[1][3] = 0.0f;
M.m[2][0] = cp * sy;
M.m[2][1] = -sp;
M.m[2][2] = cp * cy;
M.m[2][3] = 0.0f;
M.m[3][0] = 0.0f;
M.m[3][1] = 0.0f;
M.m[3][2] = 0.0f;
M.m[3][3] = 1.0f;
return M;
#else
XMVECTOR Angles = XMVectorSet(Pitch, Yaw, Roll, 0.0f);
return XMMatrixRotationRollPitchYawFromVector(Angles);
#endif
}
//------------------------------------------------------------------------------
@ -1666,8 +1699,69 @@ inline XMMATRIX XM_CALLCONV XMMatrixRotationRollPitchYawFromVector
FXMVECTOR Angles // <Pitch, Yaw, Roll, undefined>
) noexcept
{
XMVECTOR Q = XMQuaternionRotationRollPitchYawFromVector(Angles);
return XMMatrixRotationQuaternion(Q);
#if defined(_XM_NO_INTRINSICS_)
float cp = cosf(Angles.vector4_f32[0]);
float sp = sinf(Angles.vector4_f32[0]);
float cy = cosf(Angles.vector4_f32[1]);
float sy = sinf(Angles.vector4_f32[1]);
float cr = cosf(Angles.vector4_f32[2]);
float sr = sinf(Angles.vector4_f32[2]);
XMMATRIX M;
M.m[0][0] = cr * cy + sr * sp * sy;
M.m[0][1] = sr * cp;
M.m[0][2] = sr * sp * cy - cr * sy;
M.m[0][3] = 0.0f;
M.m[1][0] = cr * sp * sy - sr * cy;
M.m[1][1] = cr * cp;
M.m[1][2] = sr * sy + cr * sp * cy;
M.m[1][3] = 0.0f;
M.m[2][0] = cp * sy;
M.m[2][1] = -sp;
M.m[2][2] = cp * cy;
M.m[2][3] = 0.0f;
M.m[3][0] = 0.0f;
M.m[3][1] = 0.0f;
M.m[3][2] = 0.0f;
M.m[3][3] = 1.0f;
return M;
#else
static const XMVECTORF32 Sign = { { { 1.0f, -1.0f, -1.0f, 1.0f } } };
XMVECTOR SinAngles, CosAngles;
XMVectorSinCos(&SinAngles, &CosAngles, Angles);
XMVECTOR P0 = XMVectorPermute<XM_PERMUTE_1X, XM_PERMUTE_0Z, XM_PERMUTE_1Z, XM_PERMUTE_1X>(SinAngles, CosAngles);
XMVECTOR Y0 = XMVectorPermute<XM_PERMUTE_0Y, XM_PERMUTE_1X, XM_PERMUTE_1X, XM_PERMUTE_1Y>(SinAngles, CosAngles);
XMVECTOR P1 = XMVectorPermute<XM_PERMUTE_1Z, XM_PERMUTE_0Z, XM_PERMUTE_1Z, XM_PERMUTE_0Z>(SinAngles, CosAngles);
XMVECTOR Y1 = XMVectorPermute<XM_PERMUTE_1Y, XM_PERMUTE_1Y, XM_PERMUTE_0Y, XM_PERMUTE_0Y>(SinAngles, CosAngles);
XMVECTOR P2 = XMVectorPermute<XM_PERMUTE_0Z, XM_PERMUTE_1Z, XM_PERMUTE_0Z, XM_PERMUTE_1Z>(SinAngles, CosAngles);
XMVECTOR P3 = XMVectorPermute<XM_PERMUTE_0Y, XM_PERMUTE_0Y, XM_PERMUTE_1Y, XM_PERMUTE_1Y>(SinAngles, CosAngles);
XMVECTOR Y2 = XMVectorSplatX(SinAngles);
XMVECTOR NS = XMVectorNegate(SinAngles);
XMVECTOR Q0 = XMVectorMultiply(P0, Y0);
XMVECTOR Q1 = XMVectorMultiply(P1, Sign.v);
Q1 = XMVectorMultiply(Q1, Y1);
XMVECTOR Q2 = XMVectorMultiply(P2, Y2);
Q2 = XMVectorMultiplyAdd(Q2, P3, Q1);
XMVECTOR V0 = XMVectorPermute<XM_PERMUTE_1X, XM_PERMUTE_0Y, XM_PERMUTE_1Z, XM_PERMUTE_0W>(Q0, Q2);
XMVECTOR V1 = XMVectorPermute<XM_PERMUTE_1Y, XM_PERMUTE_0Z, XM_PERMUTE_1W, XM_PERMUTE_0W>(Q0, Q2);
XMVECTOR V2 = XMVectorPermute<XM_PERMUTE_0X, XM_PERMUTE_1X, XM_PERMUTE_0W, XM_PERMUTE_0W>(Q0, NS);
XMMATRIX M;
M.r[0] = XMVectorSelect(g_XMZero, V0, g_XMSelect1110.v);
M.r[1] = XMVectorSelect(g_XMZero, V1, g_XMSelect1110.v);
M.r[2] = XMVectorSelect(g_XMZero, V2, g_XMSelect1110.v);
M.r[3] = g_XMIdentityR3;
return M;
#endif
}
//------------------------------------------------------------------------------