// This file was taken from the Pikmin 2 decompilation project. // https://github.com/projectPiki/pikmin2/blob/main/src/Dolphin/mtx/mtx.c #include "types.h" #include "fdlibm.h" #include "Dolphin/mtx.h" static f32 Unit01[] = { 0.0f, 1.0f }; void PSMTXIdentity ( register Mtx m ) { register f32 zero_c = 0.0f; register f32 one_c = 1.0f; register f32 c_01; register f32 c_10; asm { psq_st zero_c, 8(m), 0, 0 ps_merge01 c_01, zero_c, one_c psq_st zero_c, 24(m), 0, 0 ps_merge10 c_10, one_c, zero_c psq_st zero_c, 32(m), 0, 0 psq_st c_01, 16(m), 0, 0 psq_st c_10, 0(m), 0, 0 psq_st c_10, 40(m), 0, 0 } } asm void PSMTXCopy ( const register Mtx src, register Mtx dst ) { nofralloc psq_l fp0, 0(src), 0, 0 psq_st fp0, 0(dst), 0, 0 psq_l fp1, 8(src), 0, 0 psq_st fp1, 8(dst), 0, 0 psq_l fp2, 16(src), 0, 0 psq_st fp2, 16(dst), 0, 0 psq_l fp3, 24(src), 0, 0 psq_st fp3, 24(dst), 0, 0 psq_l fp4, 32(src), 0, 0 psq_st fp4, 32(dst), 0, 0 psq_l fp5, 40(src), 0, 0 psq_st fp5, 40(dst), 0, 0 blr } asm void PSMTXConcat ( const register Mtx mA, // r3 const register Mtx mB, // r4 register Mtx mAB // r5 ) { nofralloc #define FP0 fp0 #define FP1 fp1 #define FP2 fp2 #define FP3 fp3 #define FP4 fp4 #define FP5 fp5 #define FP6 fp6 #define FP7 fp7 #define FP8 fp8 #define FP9 fp9 #define FP10 fp10 #define FP11 fp11 #define FP12 fp12 #define FP13 fp13 #define FP14 fp14 #define FP15 fp15 #define FP31 fp31 stwu r1, -64(r1) psq_l FP0, 0(mA), 0, 0 stfd fp14, 8(r1) psq_l FP6, 0(mB), 0, 0 addis r6, 0, Unit01@ha psq_l FP7, 8(mB), 0, 0 stfd fp15, 16(r1) addi r6, r6, Unit01@l stfd fp31, 40(r1) psq_l FP8, 16(mB), 0, 0 ps_muls0 FP12, FP6, FP0 psq_l FP2, 16(mA), 0, 0 ps_muls0 FP13, FP7, FP0 psq_l FP31, 0(r6), 0, 0 ps_muls0 FP14, FP6, FP2 psq_l FP9, 24(mB), 0, 0 ps_muls0 FP15, FP7, FP2 psq_l FP1, 8(mA), 0, 0 ps_madds1 FP12, FP8, FP0, FP12 psq_l FP3, 24(mA), 0, 0 ps_madds1 FP14, FP8, FP2, FP14 psq_l FP10, 32(mB), 0, 0 ps_madds1 FP13, FP9, FP0, FP13 psq_l FP11, 40(mB), 0, 0 ps_madds1 FP15, FP9, FP2, FP15 psq_l FP4, 32(mA), 0, 0 psq_l FP5, 40(mA), 0, 0 ps_madds0 FP12, FP10, FP1, FP12 ps_madds0 FP13, FP11, FP1, FP13 ps_madds0 FP14, FP10, FP3, FP14 ps_madds0 FP15, FP11, FP3, FP15 psq_st FP12, 0(mAB), 0, 0 ps_muls0 FP2, FP6, FP4 ps_madds1 FP13, FP31, FP1, FP13 ps_muls0 FP0, FP7, FP4 psq_st FP14, 16(mAB), 0, 0 ps_madds1 FP15, FP31, FP3, FP15 psq_st FP13, 8(mAB), 0, 0 ps_madds1 FP2, FP8, FP4, FP2 ps_madds1 FP0, FP9, FP4, FP0 ps_madds0 FP2, FP10, FP5, FP2 lfd fp14, 8(r1) psq_st FP15, 24(mAB), 0, 0 ps_madds0 FP0, FP11, FP5, FP0 psq_st FP2, 32(mAB), 0, 0 ps_madds1 FP0, FP31, FP5, FP0 lfd fp15, 16(r1) psq_st FP0, 40(mAB), 0, 0 lfd fp31, 40(r1) addi r1, r1, 64 blr #undef FP0 #undef FP1 #undef FP2 #undef FP3 #undef FP4 #undef FP5 #undef FP6 #undef FP7 #undef FP8 #undef FP9 #undef FP10 #undef FP11 #undef FP12 #undef FP13 #undef FP14 #undef FP15 #undef FP31 } #pragma scheduling off void PSMTXTranspose ( const register Mtx src, register Mtx xPose ) { register f32 c_zero = 0.0f; register f32 row0a, row1a, row0b, row1b; register f32 trns0, trns1, trns2; asm { psq_l row0a, 0(src), 0, 0 stfs c_zero, 44(xPose) psq_l row1a, 16(src), 0, 0 ps_merge00 trns0, row0a, row1a psq_l row0b, 8(src), 1, 0 ps_merge11 trns1, row0a, row1a psq_l row1b, 24(src), 1, 0 psq_st trns0, 0(xPose), 0, 0 psq_l row0a, 32(src), 0, 0 ps_merge00 trns2, row0b, row1b psq_st trns1, 16(xPose), 0, 0 ps_merge00 trns0, row0a, c_zero psq_st trns2, 32(xPose), 0, 0 ps_merge10 trns1, row0a, c_zero psq_st trns0, 8(xPose), 0, 0 lfs row0b, 40(src) psq_st trns1, 24(xPose), 0, 0 stfs row0b, 40(xPose) } } asm u32 PSMTXInverse ( const register Mtx src, register Mtx inv ) { nofralloc psq_l fp0, 0(src), 1, 0 psq_l fp1, 4(src), 0, 0 psq_l fp2, 16(src), 1, 0 ps_merge10 fp6, fp1, fp0 psq_l fp3, 20(src), 0, 0 psq_l fp4, 32(src), 1, 0 ps_merge10 fp7, fp3, fp2 psq_l fp5, 36(src), 0, 0 ps_mul fp11, fp3, fp6 ps_mul fp13, fp5, fp7 ps_merge10 fp8, fp5, fp4 ps_msub fp11, fp1, fp7, fp11 ps_mul fp12, fp1, fp8 ps_msub fp13, fp3, fp8, fp13 ps_mul fp10, fp3, fp4 ps_msub fp12, fp5, fp6, fp12 ps_mul fp9, fp0, fp5 ps_mul fp8, fp1, fp2 ps_sub fp6, fp6, fp6 ps_msub fp10, fp2, fp5, fp10 ps_mul fp7, fp0, fp13 ps_msub fp9, fp1, fp4, fp9 ps_madd fp7, fp2, fp12, fp7 ps_msub fp8, fp0, fp3, fp8 ps_madd fp7, fp4, fp11, fp7 ps_cmpo0 cr0, fp7, fp6 bne _regular addi r3, 0, 0 blr _regular: fres fp0, fp7 ps_add fp6, fp0, fp0 ps_mul fp5, fp0, fp0 ps_nmsub fp0, fp7, fp5, fp6 lfs fp1, 12(src) ps_muls0 fp13, fp13, fp0 lfs fp2, 28(src) ps_muls0 fp12, fp12, fp0 lfs fp3, 44(src) ps_muls0 fp11, fp11, fp0 ps_merge00 fp5, fp13, fp12 ps_muls0 fp10, fp10, fp0 ps_merge11 fp4, fp13, fp12 ps_muls0 fp9, fp9, fp0 psq_st fp5, 0(inv), 0, 0 ps_mul fp6, fp13, fp1 psq_st fp4, 16(inv), 0, 0 ps_muls0 fp8, fp8, fp0 ps_madd fp6, fp12, fp2, fp6 psq_st fp10, 32(inv), 1, 0 ps_nmadd fp6, fp11, fp3, fp6 psq_st fp9, 36(inv), 1, 0 ps_mul fp7, fp10, fp1 ps_merge00 fp5, fp11, fp6 psq_st fp8, 40(inv), 1, 0 ps_merge11 fp4, fp11, fp6 psq_st fp5, 8(inv), 0, 0 ps_madd fp7, fp9, fp2, fp7 psq_st fp4, 24(inv), 0, 0 ps_nmadd fp7, fp8, fp3, fp7 addi r3, 0, 1 psq_st fp7, 44(inv), 1, 0 blr } void PSMTXRotRad ( Mtx m, char axis, f32 rad ) { f32 sinA, cosA; sinA = sinf(rad); cosA = cosf(rad); PSMTXRotTrig( m, axis, sinA, cosA ); } void PSMTXRotTrig ( register Mtx m, register char axis, register f32 sinA, register f32 cosA ) { register f32 fc0, fc1, nsinA; register f32 fw0, fw1, fw2, fw3; asm { frsp sinA, sinA frsp cosA, cosA } fc0 = 0.0f; fc1 = 1.0f; asm { ori axis, axis, 0x20 ps_neg nsinA, sinA cmplwi axis, 'x' beq _case_x cmplwi axis, 'y' beq _case_y cmplwi axis, 'z' beq _case_z b _end _case_x: psq_st fc1, 0(m), 1, 0 psq_st fc0, 4(m), 0, 0 ps_merge00 fw0, sinA, cosA psq_st fc0, 12(m), 0, 0 ps_merge00 fw1, cosA, nsinA psq_st fc0, 28(m), 0, 0 psq_st fc0, 44(m), 1, 0 psq_st fw0, 36(m), 0, 0 psq_st fw1, 20(m), 0, 0 b _end; _case_y: ps_merge00 fw0, cosA, fc0 ps_merge00 fw1, fc0, fc1 psq_st fc0, 24(m), 0, 0 psq_st fw0, 0(m), 0, 0 ps_merge00 fw2, nsinA, fc0 ps_merge00 fw3, sinA, fc0 psq_st fw0, 40(m), 0, 0; psq_st fw1, 16(m), 0, 0; psq_st fw3, 8(m), 0, 0; psq_st fw2, 32(m), 0, 0; b _end; _case_z: psq_st fc0, 8(m), 0, 0 ps_merge00 fw0, sinA, cosA ps_merge00 fw2, cosA, nsinA psq_st fc0, 24(m), 0, 0 psq_st fc0, 32(m), 0, 0 ps_merge00 fw1, fc1, fc0 psq_st fw0, 16(m), 0, 0 psq_st fw2, 0(m), 0, 0 psq_st fw1, 40(m), 0, 0 _end: } } static void __PSMTXRotAxisRadInternal( register Mtx m, const register Vec *axis, register f32 sT, register f32 cT ) { register f32 tT, fc0; register f32 tmp0, tmp1, tmp2, tmp3, tmp4; register f32 tmp5, tmp6, tmp7, tmp8, tmp9; tmp9 = 0.5f; tmp8 = 3.0f; asm { frsp cT, cT psq_l tmp0, 0(axis), 0, 0 frsp sT, sT lfs tmp1, 8(axis) ps_mul tmp2, tmp0, tmp0 fadds tmp7, tmp9, tmp9 ps_madd tmp3, tmp1, tmp1, tmp2 fsubs fc0, tmp9, tmp9 ps_sum0 tmp4, tmp3, tmp1, tmp2 fsubs tT, tmp7, cT frsqrte tmp5, tmp4 fmuls tmp2, tmp5, tmp5 fmuls tmp3, tmp5, tmp9 fnmsubs tmp2, tmp2, tmp4, tmp8 fmuls tmp5, tmp2, tmp3 ps_merge00 cT, cT, cT ps_muls0 tmp0, tmp0, tmp5 ps_muls0 tmp1, tmp1, tmp5 ps_muls0 tmp4, tmp0, tT ps_muls0 tmp9, tmp0, sT ps_muls0 tmp5, tmp1, tT ps_muls1 tmp3, tmp4, tmp0 ps_muls0 tmp2, tmp4, tmp0 ps_muls0 tmp4, tmp4, tmp1 fnmsubs tmp6, tmp1, sT, tmp3 fmadds tmp7, tmp1, sT, tmp3 ps_neg tmp0, tmp9 ps_sum0 tmp8, tmp4, fc0, tmp9 ps_sum0 tmp2, tmp2, tmp6, cT ps_sum1 tmp3, cT, tmp7, tmp3 ps_sum0 tmp6, tmp0, fc0 ,tmp4 psq_st tmp8, 8(m), 0, 0 ps_sum0 tmp0, tmp4, tmp4, tmp0 psq_st tmp2, 0(m), 0, 0 ps_muls0 tmp5, tmp5, tmp1 psq_st tmp3, 16(m), 0, 0 ps_sum1 tmp4, tmp9, tmp0, tmp4 psq_st tmp6, 24(m), 0, 0 ps_sum0 tmp5, tmp5, fc0, cT psq_st tmp4, 32(m), 0, 0 psq_st tmp5, 40(m), 0, 0 } } // clang-format on void PSMTXRotAxisRad(Mtx m, const Vec* axis, f32 rad) { f32 sinT, cosT; sinT = sinf(rad); cosT = cosf(rad); __PSMTXRotAxisRadInternal(m, axis, sinT, cosT); } // clang-format off void PSMTXTrans( register Mtx m, register f32 xT, register f32 yT, register f32 zT ) { register f32 c0 = 0.0f; register f32 c1 = 1.0f; asm { stfs xT, 12(m) stfs yT, 28(m) psq_st c0, 4(m), 0, 0 psq_st c0, 32(m), 0, 0 stfs c0, 16(m) stfs c1, 20(m) stfs c0, 24(m) stfs c1, 40(m) stfs zT, 44(m) stfs c1, 0(m) } } asm void PSMTXTransApply( const register Mtx src, register Mtx dst, register f32 xT, register f32 yT, register f32 zT ) { nofralloc; psq_l fp4, 0(src), 0, 0; frsp xT, xT; psq_l fp5, 8(src), 0, 0; frsp yT, yT; psq_l fp7, 24(src), 0, 0; frsp zT, zT; psq_l fp8, 40(src), 0, 0; psq_st fp4, 0(dst), 0, 0; ps_sum1 fp5, xT, fp5, fp5; psq_l fp6, 16(src), 0, 0; psq_st fp5, 8(dst), 0, 0; ps_sum1 fp7, yT, fp7, fp7; psq_l fp9, 32(src), 0, 0; psq_st fp6, 16(dst), 0, 0; ps_sum1 fp8, zT, fp8, fp8; psq_st fp7, 24(dst), 0, 0; psq_st fp9, 32(dst), 0, 0; psq_st fp8, 40(dst), 0, 0; blr; } void PSMTXScale( register Mtx m, register f32 xS, register f32 yS, register f32 zS ) { register f32 c0 = 0.0f; asm { stfs xS, 0(m) psq_st c0, 4(m), 0, 0 psq_st c0, 12(m), 0, 0 stfs yS, 20(m) psq_st c0, 24(m), 0, 0 psq_st c0, 32(m), 0, 0 stfs zS, 40(m) stfs c0, 44(m) } } asm void PSMTXScaleApply ( const register Mtx src, register Mtx dst, register f32 xS, register f32 yS, register f32 zS ) { nofralloc; frsp xS, xS; psq_l fp4, 0(src), 0, 0; frsp yS, yS; psq_l fp5, 8(src), 0, 0; frsp zS, zS; ps_muls0 fp4, fp4, xS; psq_l fp6, 16(src), 0, 0; ps_muls0 fp5, fp5, xS; psq_l fp7, 24(src), 0, 0; ps_muls0 fp6, fp6, yS; psq_l fp8, 32(src), 0, 0; psq_st fp4, 0(dst), 0, 0; ps_muls0 fp7, fp7, yS; psq_l fp2, 40(src), 0, 0; psq_st fp5, 8(dst), 0, 0; ps_muls0 fp8, fp8, zS; psq_st fp6, 16(dst), 0, 0; ps_muls0 fp2, fp2, zS; psq_st fp7, 24(dst), 0, 0; psq_st fp8, 32(dst), 0, 0; psq_st fp2, 40(dst), 0, 0; blr; } void PSMTXQuat ( register Mtx m, const register Quaternion *q ) { register f32 c_zero, c_one, c_two, scale; register f32 tmp0, tmp1, tmp2, tmp3, tmp4; register f32 tmp5, tmp6, tmp7, tmp8, tmp9; c_one = 1.0f; asm { psq_l tmp0, 0(q), 0, 0 psq_l tmp1, 8(q), 0, 0 fsubs c_zero, c_one, c_one fadds c_two, c_one, c_one ps_mul tmp2, tmp0, tmp0 ps_merge10 tmp5, tmp0, tmp0 ps_madd tmp4, tmp1, tmp1, tmp2 ps_mul tmp3, tmp1, tmp1 ps_sum0 scale, tmp4, tmp4, tmp4 ps_muls1 tmp7, tmp5, tmp1 fres tmp9, scale ps_sum1 tmp4, tmp3, tmp4, tmp2 ps_nmsub scale, scale, tmp9, c_two ps_muls1 tmp6, tmp1, tmp1 ps_mul scale, tmp9, scale ps_sum0 tmp2, tmp2, tmp2, tmp2 fmuls scale, scale, c_two ps_madd tmp8, tmp0, tmp5, tmp6 ps_msub tmp6, tmp0, tmp5, tmp6 psq_st c_zero, 12(m), 1, 0 ps_nmsub tmp2, tmp2, scale, c_one ps_nmsub tmp4, tmp4, scale, c_one psq_st c_zero, 44(m), 1, 0 ps_mul tmp8, tmp8, scale ps_mul tmp6, tmp6, scale psq_st tmp2, 40(m), 1, 0 ps_madds0 tmp5, tmp0, tmp1, tmp7 ps_merge00 tmp1, tmp8, tmp4 ps_nmsub tmp7, tmp7, c_two, tmp5 ps_merge10 tmp0, tmp4, tmp6 psq_st tmp1, 16(m), 0, 0 ps_mul tmp5, tmp5, scale ps_mul tmp7, tmp7, scale psq_st tmp0, 0(m), 0, 0 psq_st tmp5, 8(m), 1, 0 ps_merge10 tmp3, tmp7, c_zero ps_merge01 tmp9, tmp7, tmp5 psq_st tmp3, 24(m), 0, 0 psq_st tmp9, 32(m), 0, 0 } } // clang-format on void C_MTXLookAt(Mtx m, const Vec* camPos, const Vec* camUp, const Vec* target) { Vec vLook, vRight, vUp; vLook.x = camPos->x - target->x; vLook.y = camPos->y - target->y; vLook.z = camPos->z - target->z; PSVECNormalize(&vLook, &vLook); PSVECCrossProduct(camUp, &vLook, &vRight); PSVECNormalize(&vRight, &vRight); PSVECCrossProduct(&vLook, &vRight, &vUp); m[0][0] = vRight.x; m[0][1] = vRight.y; m[0][2] = vRight.z; m[0][3] = -(camPos->x * vRight.x + camPos->y * vRight.y + camPos->z * vRight.z); m[1][0] = vUp.x; m[1][1] = vUp.y; m[1][2] = vUp.z; m[1][3] = -(camPos->x * vUp.x + camPos->y * vUp.y + camPos->z * vUp.z); m[2][0] = vLook.x; m[2][1] = vLook.y; m[2][2] = vLook.z; m[2][3] = -(camPos->x * vLook.x + camPos->y * vLook.y + camPos->z * vLook.z); } void C_MTXLightFrustum(Mtx m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 scaleS, f32 scaleT, f32 transS, f32 transT) { f32 inv_dist = 1.0 / (r - l); f32 two_n = 2*n; m[0][0] = two_n * inv_dist * scaleS; m[0][1] = 0.0; m[0][2] = ((r+l) * inv_dist * scaleS) - transS; m[0][3] = 0.0; inv_dist = 1.0 / (t - b); m[1][0] = 0.0; m[1][1] = two_n * inv_dist * scaleT; m[1][2] = ((t+b) * inv_dist * scaleT) - transT; m[1][3] = 0.0; m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = -1.0; m[2][3] = 0.0; } void C_MTXLightPerspective(Mtx m, f32 fovY, f32 aspect, float scaleS, float scaleT, float transS, float transT) { f32 angle; f32 cot; angle = fovY * 0.5f; angle = MTXDegToRad(angle); cot = 1.0f / tanf(angle); m[0][0] = (cot / aspect) * scaleS; m[0][1] = 0.0f; m[0][2] = -transS; m[0][3] = 0.0f; m[1][0] = 0.0f; m[1][1] = cot * scaleT; m[1][2] = -transT; m[1][3] = 0.0f; m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = -1.0f; m[2][3] = 0.0f; } void C_MTXLightOrtho(Mtx m, f32 t, f32 b, f32 l, f32 r, float scaleS, float scaleT, float transS, float transT) { f32 tmp; tmp = 1.0f / (r - l); m[0][0] = (2.0f * tmp * scaleS); m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = ((-(r + l) * tmp) * scaleS) + transS; tmp = 1.0f / (t - b); m[1][0] = 0.0f; m[1][1] = (2.0f * tmp) * scaleT; m[1][2] = 0.0f; m[1][3] = ((-(t + b) * tmp) * scaleT) + transT; m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = 0.0f; m[2][3] = 1.0f; }