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bone_sse: simplify rotateByQuaternion to use matMul4x4 V4+FMA path

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MarcelineVQ
2026-03-16 10:56:48 -07:00
parent 5d41cd03a3
commit a7e2f978e2
1 changed files with 4 additions and 39 deletions
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src/transform44/bone_sse.zig
+4 -39
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@@ -344,47 +344,12 @@ inline fn buildRotationMatrix(mat: u32, qx: f32, qy: f32, qz: f32, qw: f32) void
}
/// Quaternion → rotation matrix, then multiply: mat = quat_rot * mat.
/// Standard quat→mat conversion + SSE 4x4 matrix multiply.
/// Used in bone keyframe processing where matrix already has content.
/// Builds rotation matrix on stack, then delegates to matMul4x4 (V4 + FMA).
inline fn rotateByQuaternion(mat: u32, qx: f32, qy: f32, qz: f32, qw: f32) void {
const xx2 = qx * (qx + qx);
const xy2 = qx * (qy + qy);
const xz2 = qx * (qz + qz);
const yy2 = qy * (qy + qy);
const yz2 = qy * (qz + qz);
const zz2 = qz * (qz + qz);
const wx2 = qw * (qx + qx);
const wy2 = qw * (qy + qy);
const wz2 = qw * (qz + qz);
// Rotation matrix from quaternion (row-major)
const rot: [16]f32 = .{
1.0 - (yy2 + zz2), xy2 + wz2, xz2 - wy2, 0,
xy2 - wz2, 1.0 - (xx2 + zz2), yz2 + wx2, 0,
xz2 + wy2, yz2 - wx2, 1.0 - (xx2 + yy2), 0,
0, 0, 0, 1,
};
// SSE matrix multiply: result = rot * mat
var tmp: [16]f32 = undefined;
const r0: V4 = .{ rf32(mat + 0x00), rf32(mat + 0x04), rf32(mat + 0x08), rf32(mat + 0x0C) };
const r1: V4 = .{ rf32(mat + 0x10), rf32(mat + 0x14), rf32(mat + 0x18), rf32(mat + 0x1C) };
const r2: V4 = .{ rf32(mat + 0x20), rf32(mat + 0x24), rf32(mat + 0x28), rf32(mat + 0x2C) };
const r3: V4 = .{ rf32(mat + 0x30), rf32(mat + 0x34), rf32(mat + 0x38), rf32(mat + 0x3C) };
inline for (0..4) |i| {
const b = i * 4;
const out = splat(rot[b]) * r0 + splat(rot[b + 1]) * r1 + splat(rot[b + 2]) * r2 + splat(rot[b + 3]) * r3;
tmp[b] = out[0];
tmp[b + 1] = out[1];
tmp[b + 2] = out[2];
tmp[b + 3] = out[3];
}
// Copy back
inline for (0..16) |i| {
wf32(mat + @as(u32, @intCast(i)) * 4, tmp[i]);
}
const tmp_addr = @intFromPtr(&tmp);
buildRotationMatrix(tmp_addr, qx, qy, qz, qw);
matMul4x4(mat, tmp_addr, mat);
}
/// Copy 16 floats (4x4 matrix)