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#include "JSystem/JSystem.h" // IWYU pragma: keep
#include "JSystem/JMath/JMath.h"
#include "JSystem/JMath/JMATrigonometric.h"
void JMAEulerToQuat(s16 x, s16 y, s16 z, Quaternion* quat) {
f32 cosX = JMASCos(x / 2);
f32 cosY = JMASCos(y / 2);
f32 cosZ = JMASCos(z / 2);
f32 sinX = JMASSin(x / 2);
f32 sinY = JMASSin(y / 2);
f32 sinZ = JMASSin(z / 2);
f32 cyz = cosY * cosZ;
f32 syz = sinY * sinZ;
quat->w = cosX * (cyz) + sinX * (syz);
quat->x = sinX * (cyz)-cosX * (syz);
quat->y = cosZ * (cosX * sinY) + sinZ * (sinX * cosY);
quat->z = sinZ * (cosX * cosY) - cosZ * (sinX * sinY);
}
void JMAQuatLerp(register const Quaternion* p, register const Quaternion* q, f32 t,
Quaternion* dst) {
register f32 pxy, pzw, qxy, qzw;
register f32 dp;
#ifdef __MWERKS__ // clang-format off
// compute dot product
asm {
psq_l pxy, 0(p), 0, 0
psq_l qxy, 0(q), 0, 0
ps_mul dp, pxy, qxy
psq_l pzw, 8(p), 0, 0
psq_l qzw, 8(q), 0, 0
ps_madd dp, pzw, qzw, dp
ps_sum0 dp, dp, dp, dp
}
#endif // clang-format on
if (dp < 0.0) {
dst->x = -t * (p->x + q->x) + p->x;
dst->y = -t * (p->y + q->y) + p->y;
dst->z = -t * (p->z + q->z) + p->z;
dst->w = -t * (p->w + q->w) + p->w;
} else {
dst->x = -t * (p->x - q->x) + p->x;
dst->y = -t * (p->y - q->y) + p->y;
dst->z = -t * (p->z - q->z) + p->z;
dst->w = -t * (p->w - q->w) + p->w;
}
}
void JMAFastVECNormalize(register const Vec* src, register Vec* dst) {
register f32 vxy, rxy, vz, length;
#ifdef __MWERKS__ // clang-format off
asm {
psq_l vxy, 0(src), 0, 0
ps_mul rxy, vxy, vxy
lfs vz, src->z
ps_madd length, vz, vz, rxy
ps_sum0 length, length, rxy, rxy
frsqrte length, length
ps_muls0 vxy, vxy, length;
psq_st vxy, 0(dst), 0, 0
fmuls vz, vz, length
stfs vz, dst->z
}
#endif // clang-format on
}
void JMAVECScaleAdd(register const Vec* vec1, register const Vec* vec2, register Vec* dst,
register f32 scale) {
register f32 v1xy;
register f32 v2xy = scale;
register f32 rxy, v1z, v2z, rz;
#ifdef __MWERKS__ // clang-format off
asm {
psq_l v1xy, 0(vec1), 0, 0
psq_l v2xy, 0(vec2), 0, 0
ps_madds0 rxy, v1xy, scale, v2xy
psq_st rxy, 0(dst), 0, 0
psq_l v1z, 8(vec1), 1, 0
psq_l v2z, 8(vec2), 1, 0
ps_madds0 rz, v1z, scale, v2z
psq_st rz, 8(dst), 1, 0
}
#endif // clang-format on
}
void JMAMTXApplyScale(register const Mtx src, register Mtx dst, register f32 xScale,
register f32 yScale, register f32 zScale) {
register f32 scale = yScale;
register f32 x, y, z;
register f32 normal = 1.0f;
#ifdef __MWERKS__ // clang-format off
asm {
// scale first 2 components
ps_merge00 scale, xScale, scale
psq_l x, 0(src), 0, 0
psq_l y, 16(src), 0, 0
psq_l z, 32(src), 0, 0
ps_mul x, x, scale
ps_mul y, y, scale
ps_mul z, z, scale
psq_st x, 0(dst), 0, 0
psq_st y, 16(dst), 0, 0
psq_st z, 32(dst), 0, 0
// scale last 2 components
ps_merge00 scale, zScale, normal
psq_l x, 8(src), 0, 0
psq_l y, 24(src), 0, 0
psq_l z, 40(src), 0, 0
ps_mul x, x, scale
ps_mul y, y, scale
ps_mul z, z, scale
psq_st x, 8(dst), 0, 0
psq_st y, 24(dst), 0, 0
psq_st z, 40(dst), 0, 0
}
#endif // clang-format on
}
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