1 /*---------------------------------------------------------------------------*
2 Project: Horizon
3 File: math_Quaternion.cpp
4
5 Copyright (C)2009-2012 Nintendo Co., Ltd. All rights reserved.
6
7 These coded instructions, statements, and computer programs contain
8 proprietary information of Nintendo of America Inc. and/or Nintendo
9 Company Ltd., and are protected by Federal copyright law. They may
10 not be disclosed to third parties or copied or duplicated in any form,
11 in whole or in part, without the prior written consent of Nintendo.
12
13 $Rev: 46347 $
14 *---------------------------------------------------------------------------*/
15
16 #include <nn/math.h>
17
18 #include <cmath>
19 #include <nn/math/math_Quaternion.h>
20
21 #if !defined(NN_MATH_AS_INLINE)
22 #include <nn/math/inline/math_Quaternion.ipp>
23 #include <nn/math/ARMv6/inline/math_Quaternion.ipp>
24 #endif
25
26
27 namespace nn {
28 namespace math {
29 namespace ARMv6 {
30 #include <nn/hw/ARM/code32.h>
31
32 NN_FUNC_ATTR_PRIVATE_SECTION
QUATMultAsm(QUAT *,const QUAT *,const QUAT *)33 asm QUAT* QUATMultAsm(QUAT*, const QUAT*, const QUAT* )
34 {
35 VLDMIA r1,{s4-s7} // All q1 vectors are put in the [S4-S7] registers
36 VLDMIA r2,{s8-s11} // All q2 vectors are put in the [S8-S11] registers
37
38 VMUL.F32 s0,s7,s8
39 VMUL.F32 s1,s7,s9
40 VMUL.F32 s2,s7,s10
41 VMUL.F32 s3,s7,s11
42
43 VMLA.F32 s0,s4,s11
44 VMLA.F32 s1,s5,s11
45 VMLA.F32 s2,s6,s11
46 VMLS.F32 s3,s4,s8
47
48 VMLA.F32 s0,s5,s10
49 VMLA.F32 s1,s6,s8
50 VMLA.F32 s2,s4,s9
51 VMLS.F32 s3,s5,s9
52
53 VMLS.F32 s0,s6,s9
54 VMLS.F32 s1,s4,s10
55 VMLS.F32 s2,s5,s8
56 VMLS.F32 s3,s6,s10
57
58 VSTMIA r0,{s0-s3} // Store result
59 BX lr // Return
60 }
61
62
63 #include <nn/hw/ARM/codereset.h>
64
65 } // namespace ARMv6
66 }} // nw::math
67
68