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#include "global.h"
#include "main.h"
#include "fx.h"
ARM_FUNC void VEC_Add(struct Vecx32 *a, struct Vecx32 *b, struct Vecx32 *dst){
dst->x = a->x + b->x;
dst->y = a->y + b->y;
dst->z = a->z + b->z;
}
ARM_FUNC void VEC_Subtract(struct Vecx32 *a, struct Vecx32 *b, struct Vecx32 *dst){
dst->x = a->x - b->x;
dst->y = a->y - b->y;
dst->z = a->z - b->z;
}
ARM_FUNC void VEC_Fx16Add(struct Vecx16 *a, struct Vecx16 *b, struct Vecx16 *dst){
dst->x = a->x + b->x;
dst->y = a->y + b->y;
dst->z = a->z + b->z;
}
ARM_FUNC fx32 VEC_DotProduct(struct Vecx32 *a, struct Vecx32 *b){
return ((fx64)a->x * b->x + (fx64)a->y * b->y + (fx64)a->z * b->z + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT;
}
ARM_FUNC fx32 VEC_Fx16DotProduct(struct Vecx16 *a, struct Vecx16 *b){
fx32 temp1, temp2;
temp1 = (a->x * b->x) + (a->y * b->y);
temp2 = (a->z * b->z) + (1 << (FX64_INT_SHIFT - 1));
return (fx32)(((fx64)temp1 + temp2) >> FX64_INT_SHIFT);
}
ARM_FUNC void VEC_CrossProduct(struct Vecx32 *a, struct Vecx32 *b, struct Vecx32 *dst){
fx32 x, y, z;
x = (fx32)(((fx64)a->y * b->z - (fx64)a->z * b->y + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
y = (fx32)(((fx64)a->z * b->x - (fx64)a->x * b->z + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
z = (fx32)(((fx64)a->x * b->y - (fx64)a->y * b->x + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
dst->x = x;
dst->y = y;
dst->z = z;
}
ARM_FUNC void VEC_Fx16CrossProduct(struct Vecx16 *a, struct Vecx16 *b, struct Vecx16 *dst){
fx32 x, y, z;
x = ((a->y * b->z - a->z * b->y + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
y = ((a->z * b->x - a->x * b->z + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
z = ((a->x * b->y - a->y * b->x + (1 << (FX64_INT_SHIFT - 1))) >> FX64_INT_SHIFT);
dst->x = x;
dst->y = y;
dst->z = z;
}
ARM_FUNC fx32 VEC_Mag(struct Vecx32 *a){
fx64 l2 = (fx64)a->x * a->x;
l2 += (fx64)a->y * a->y;
l2 += (fx64)a->z * a->z;
reg_CP_SQRTCNT = 0x1;
reg_CP_SQRT_PARAM = l2 * 4;
while (reg_CP_SQRTCNT & 0x8000); //wait for coprocessor to finish
return ((fx32)reg_CP_SQRT_RESULT + 1) >> 1;
}
ARM_FUNC void VEC_Normalize(struct Vecx32 *a, struct Vecx32 *dst){
fx64 l2 = (fx64)a->x * a->x;
l2 += (fx64)a->y * a->y;
l2 += (fx64)a->z * a->z;
//1/sqrt(l) is computed by calculating sqrt(l)*(1/l)
reg_CP_DIVCNT = 0x2;
reg_CP_DIV_NUMER = 0x0100000000000000;
reg_CP_DIV_DENOM = l2;
reg_CP_SQRTCNT = 0x1;
reg_CP_SQRT_PARAM = l2 * 4;
while (reg_CP_SQRTCNT & 0x8000); //wait for sqrt to finish
fx32 sqrtresult = reg_CP_SQRT_RESULT;
while (reg_CP_DIVCNT & 0x8000); //wait for division to finish
l2 = reg_CP_DIV_RESULT;
l2 = sqrtresult * l2;
dst->x = (l2 * a->x + (1LL << (0x2D - 1))) >> 0x2D;
dst->y = (l2 * a->y + (1LL << (0x2D - 1))) >> 0x2D;
dst->z = (l2 * a->z + (1LL << (0x2D - 1))) >> 0x2D;
}
ARM_FUNC void VEC_Fx16Normalize(struct Vecx16 *a, struct Vecx16 *dst){
fx64 l2 = a->x * a->x;
l2 += a->y * a->y;
l2 += a->z * a->z;
//1/sqrt(l) is computed by calculating sqrt(l)*(1/l)
reg_CP_DIVCNT = 0x2;
reg_CP_DIV_NUMER = 0x0100000000000000;
reg_CP_DIV_DENOM = l2;
reg_CP_SQRTCNT = 0x1;
reg_CP_SQRT_PARAM = l2 * 4;
while (reg_CP_SQRTCNT & 0x8000); //wait for sqrt to finish
fx32 sqrtresult = reg_CP_SQRT_RESULT;
while (reg_CP_DIVCNT & 0x8000); //wait for division to finish
l2 = reg_CP_DIV_RESULT;
l2 = sqrtresult * l2;
dst->x = (l2 * a->x + (1LL << (0x2D - 1))) >> 0x2D;
dst->y = (l2 * a->y + (1LL << (0x2D - 1))) >> 0x2D;
dst->z = (l2 * a->z + (1LL << (0x2D - 1))) >> 0x2D;
}
ARM_FUNC void VEC_MultAdd(fx32 factor, struct Vecx32 *a, struct Vecx32 *b, struct Vecx32 *dst){
dst->x = (fx32)(((fx64)factor * a->x) >> FX32_INT_SHIFT) + b->x;
dst->y = (fx32)(((fx64)factor * a->y) >> FX32_INT_SHIFT) + b->y;
dst->z = (fx32)(((fx64)factor * a->z) >> FX32_INT_SHIFT) + b->z;
}
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