-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathmath_mat4.c
144 lines (120 loc) · 5.1 KB
/
math_mat4.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
/*
The MIT License (MIT)
Copyright (c) 2015 Lachlan Tychsen-Smith ([email protected])
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
/*
Matrices are specified in row major format:
| x0 x2 |
| x1 x3 |
therefore m[2] = x2
*/
#include "math_neon.h"
//matrix matrix multipication. d = m0 * m1;
void
matmul4_c(float m0[16], float m1[16], float d[16])
{
d[0] = m0[0]*m1[0] + m0[4]*m1[1] + m0[8]*m1[2] + m0[12]*m1[3];
d[1] = m0[1]*m1[0] + m0[5]*m1[1] + m0[9]*m1[2] + m0[13]*m1[3];
d[2] = m0[2]*m1[0] + m0[6]*m1[1] + m0[10]*m1[2] + m0[14]*m1[3];
d[3] = m0[3]*m1[0] + m0[7]*m1[1] + m0[11]*m1[2] + m0[15]*m1[3];
d[4] = m0[0]*m1[4] + m0[4]*m1[5] + m0[8]*m1[6] + m0[12]*m1[7];
d[5] = m0[1]*m1[4] + m0[5]*m1[5] + m0[9]*m1[6] + m0[13]*m1[7];
d[6] = m0[2]*m1[4] + m0[6]*m1[5] + m0[10]*m1[6] + m0[14]*m1[7];
d[7] = m0[3]*m1[4] + m0[7]*m1[5] + m0[11]*m1[6] + m0[15]*m1[7];
d[8] = m0[0]*m1[8] + m0[4]*m1[9] + m0[8]*m1[10] + m0[12]*m1[11];
d[9] = m0[1]*m1[8] + m0[5]*m1[9] + m0[9]*m1[10] + m0[13]*m1[11];
d[10] = m0[2]*m1[8] + m0[6]*m1[9] + m0[10]*m1[10] + m0[14]*m1[11];
d[11] = m0[3]*m1[8] + m0[7]*m1[9] + m0[11]*m1[10] + m0[15]*m1[11];
d[12] = m0[0]*m1[12] + m0[4]*m1[13] + m0[8]*m1[14] + m0[12]*m1[15];
d[13] = m0[1]*m1[12] + m0[5]*m1[13] + m0[9]*m1[14] + m0[13]*m1[15];
d[14] = m0[2]*m1[12] + m0[6]*m1[13] + m0[10]*m1[14] + m0[14]*m1[15];
d[15] = m0[3]*m1[12] + m0[7]*m1[13] + m0[11]*m1[14] + m0[15]*m1[15];
}
void
matmul4_neon(float m0[16], float m1[16], float d[16])
{
#ifdef __MATH_NEON
asm volatile (
"vld1.32 {d0, d1}, [%1]! \n\t" //q0 = m1
"vld1.32 {d2, d3}, [%1]! \n\t" //q1 = m1+4
"vld1.32 {d4, d5}, [%1]! \n\t" //q2 = m1+8
"vld1.32 {d6, d7}, [%1] \n\t" //q3 = m1+12
"vld1.32 {d16, d17}, [%0]! \n\t" //q8 = m0
"vld1.32 {d18, d19}, [%0]! \n\t" //q9 = m0+4
"vld1.32 {d20, d21}, [%0]! \n\t" //q10 = m0+8
"vld1.32 {d22, d23}, [%0] \n\t" //q11 = m0+12
"vmul.f32 q12, q8, d0[0] \n\t" //q12 = q8 * d0[0]
"vmul.f32 q13, q8, d2[0] \n\t" //q13 = q8 * d2[0]
"vmul.f32 q14, q8, d4[0] \n\t" //q14 = q8 * d4[0]
"vmul.f32 q15, q8, d6[0] \n\t" //q15 = q8 * d6[0]
"vmla.f32 q12, q9, d0[1] \n\t" //q12 = q9 * d0[1]
"vmla.f32 q13, q9, d2[1] \n\t" //q13 = q9 * d2[1]
"vmla.f32 q14, q9, d4[1] \n\t" //q14 = q9 * d4[1]
"vmla.f32 q15, q9, d6[1] \n\t" //q15 = q9 * d6[1]
"vmla.f32 q12, q10, d1[0] \n\t" //q12 = q10 * d0[0]
"vmla.f32 q13, q10, d3[0] \n\t" //q13 = q10 * d2[0]
"vmla.f32 q14, q10, d5[0] \n\t" //q14 = q10 * d4[0]
"vmla.f32 q15, q10, d7[0] \n\t" //q15 = q10 * d6[0]
"vmla.f32 q12, q11, d1[1] \n\t" //q12 = q11 * d0[1]
"vmla.f32 q13, q11, d3[1] \n\t" //q13 = q11 * d2[1]
"vmla.f32 q14, q11, d5[1] \n\t" //q14 = q11 * d4[1]
"vmla.f32 q15, q11, d7[1] \n\t" //q15 = q11 * d6[1]
"vst1.32 {d24, d25}, [%2]! \n\t" //d = q12
"vst1.32 {d26, d27}, [%2]! \n\t" //d+4 = q13
"vst1.32 {d28, d29}, [%2]! \n\t" //d+8 = q14
"vst1.32 {d30, d31}, [%2] \n\t" //d+12 = q15
: "+r"(m0), "+r"(m1), "+r"(d) :
: "q0", "q1", "q2", "q3", "q8", "q9", "q10", "q11", "q12", "q13", "q14", "q15",
"memory"
);
#else
matmul4_c(m0, m1, d);
#endif
}
//matrix vector multiplication. d = m * v
void
matvec4_c(float m[16], float v[4], float d[4])
{
d[0] = m[0]*v[0] + m[4]*v[1] + m[8]*v[2] + m[12]*v[3];
d[1] = m[1]*v[0] + m[5]*v[1] + m[9]*v[2] + m[13]*v[3];
d[2] = m[2]*v[0] + m[6]*v[1] + m[10]*v[2] + m[14]*v[3];
d[3] = m[3]*v[0] + m[7]*v[1] + m[11]*v[2] + m[15]*v[3];
}
void
matvec4_neon(float m[16], float v[4], float d[4])
{
#ifdef __MATH_NEON
asm volatile (
"vld1.32 {d0, d1}, [%1] \n\t" //Q0 = v
"vld1.32 {d18, d19}, [%0]! \n\t" //Q1 = m
"vld1.32 {d20, d21}, [%0]! \n\t" //Q2 = m+4
"vld1.32 {d22, d23}, [%0]! \n\t" //Q3 = m+8
"vld1.32 {d24, d25}, [%0]! \n\t" //Q4 = m+12
"vmul.f32 q13, q9, d0[0] \n\t" //Q5 = Q1*Q0[0]
"vmla.f32 q13, q10, d0[1] \n\t" //Q5 += Q1*Q0[1]
"vmla.f32 q13, q11, d1[0] \n\t" //Q5 += Q2*Q0[2]
"vmla.f32 q13, q12, d1[1] \n\t" //Q5 += Q3*Q0[3]
"vst1.32 {d26, d27}, [%2] \n\t" //Q4 = m+12
:
: "r"(m), "r"(v), "r"(d)
: "q0", "q9", "q10","q11", "q12", "q13", "memory"
);
#else
matvec4_c(m, v, d);
#endif
}