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  40.    <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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  108.   <div class="headertitle"><div class="title">Mat44.inl</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_mat44_8inl.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_vec3_8h.html">Jolt/Math/Vec3.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_vec4_8h.html">Jolt/Math/Vec4.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="_quat_8h.html">Jolt/Math/Quat.h</a>&gt;</span></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    122. 

  122. <div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
    123. 

  123. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">   13</a></span><span class="preprocessor">#define JPH_EL(r, c) mCol[c].mF32[r]</span></div>
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
    125. 

  125. <div class="foldopen" id="foldopen00015" data-start="{" data-end="}">
    126. 

  126. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="class_mat44.html#a9e544288786bacea509de796f7a2a224">   15</a></span><a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44::Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC1, <a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC2, <a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC3, <a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC4) :</div>
    127. 

  127. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    mCol { inC1, inC2, inC3, inC4 }</div>
    128. 

  128. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
    129. 

  129. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>}</div>
    130. 

  130. </div>
    131. 

  131. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
    132. 

  132. <div class="foldopen" id="foldopen00020" data-start="{" data-end="}">
    133. 

  133. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="class_mat44.html#a5448dda46fe8a36d0ae9b6168607e3cb">   20</a></span><a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44::Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC1, <a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC2, <a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inC3, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inC4) :</div>
    134. 

  134. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    mCol { inC1, inC2, inC3, <a class="code hl_class" href="class_vec4.html">Vec4</a>(inC4, 1.0f) }</div>
    135. 

  135. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
    136. 

  136. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>}</div>
    137. 

  137. </div>
    138. 

  138. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
    139. 

  139. <div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
    140. 

  140. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="class_mat44.html#af8719f405d2de3e6310ba091f79aa518">   25</a></span><a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44::Mat44</a>(<a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> inC1, <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> inC2, <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> inC3, <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> inC4) :</div>
    141. 

  141. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    mCol { inC1, inC2, inC3, inC4 }</div>
    142. 

  142. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
    143. 

  143. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>}</div>
    144. 

  144. </div>
    145. 

  145. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
    146. 

  146. <div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
    147. 

  147. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">   30</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>()</div>
    148. 

  148. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>{</div>
    149. 

  149. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_function" href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a>(), <a class="code hl_function" href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a>(), <a class="code hl_function" href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a>(), <a class="code hl_function" href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a>());</div>
    150. 

  150. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>}</div>
    151. 

  151. </div>
    152. 

  152. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    153. 

  153. <div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
    154. 

  154. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_mat44.html#a1b8c82590f5034e8c7f35157fdfd944f">   35</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a1b8c82590f5034e8c7f35157fdfd944f">Mat44::sIdentity</a>()</div>
    155. 

  155. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
    156. 

  156. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(1, 0, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 1, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 1, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    157. 

  157. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>}</div>
    158. 

  158. </div>
    159. 

  159. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
    160. 

  160. <div class="foldopen" id="foldopen00040" data-start="{" data-end="}">
    161. 

  161. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_mat44.html#a5c6898814660114482bbfc4908c3ad37">   40</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a5c6898814660114482bbfc4908c3ad37">Mat44::sNaN</a>()</div>
    162. 

  162. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>{</div>
    163. 

  163. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_function" href="class_vec4.html#ae55a1d16541b4d01f0904784dda18f54">Vec4::sNaN</a>(), <a class="code hl_function" href="class_vec4.html#ae55a1d16541b4d01f0904784dda18f54">Vec4::sNaN</a>(), <a class="code hl_function" href="class_vec4.html#ae55a1d16541b4d01f0904784dda18f54">Vec4::sNaN</a>(), <a class="code hl_function" href="class_vec4.html#ae55a1d16541b4d01f0904784dda18f54">Vec4::sNaN</a>());</div>
    164. 

  164. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}</div>
    165. 

  165. </div>
    166. 

  166. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
    167. 

  167. <div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
    168. 

  168. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_mat44.html#a3e2a056f901661fd715528c325df455d">   45</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a3e2a056f901661fd715528c325df455d">Mat44::sLoadFloat4x4</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_float4.html">Float4</a> *inV)</div>
    169. 

  169. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>{</div>
    170. 

  170. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    171. 

  171. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    172. 

  172. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        result.mCol[c] = <a class="code hl_function" href="class_vec4.html#aae23cc21ead458bce2968440134f350f">Vec4::sLoadFloat4</a>(inV + c);</div>
    173. 

  173. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordflow">return</span> result;</div>
    174. 

  174. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>}</div>
    175. 

  175. </div>
    176. 

  176. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
    177. 

  177. <div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
    178. 

  178. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="class_mat44.html#a8bcbeea9029c5251ff4ea9bd4d518f4c">   53</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a8bcbeea9029c5251ff4ea9bd4d518f4c">Mat44::sLoadFloat4x4Aligned</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_float4.html">Float4</a> *inV)</div>
    179. 

  179. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>{</div>
    180. 

  180. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    181. 

  181. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    182. 

  182. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        result.mCol[c] = <a class="code hl_function" href="class_vec4.html#a1f1c3d12bab2296d6313caf8a9929919">Vec4::sLoadFloat4Aligned</a>(inV + c);</div>
    183. 

  183. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordflow">return</span> result;</div>
    184. 

  184. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>}</div>
    185. 

  185. </div>
    186. 

  186. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
    187. 

  187. <div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
    188. 

  188. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="class_mat44.html#af243335b6d6acec2cf71d4cdc79bdff4">   61</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#af243335b6d6acec2cf71d4cdc79bdff4">Mat44::sRotationX</a>(<span class="keywordtype">float</span> inX)</div>
    189. 

  189. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>{</div>
    190. 

  190. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> sv, cv;</div>
    191. 

  191. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(inX).<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(sv, cv);</div>
    192. 

  192. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">float</span> s = sv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>(), c = cv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    193. 

  193. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(1, 0, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, c, s, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, -s, c, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    194. 

  194. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}</div>
    195. 

  195. </div>
    196. 

  196. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
    197. 

  197. <div class="foldopen" id="foldopen00069" data-start="{" data-end="}">
    198. 

  198. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="class_mat44.html#afc881fca3e2d653815f0e7742ad4dce8">   69</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#afc881fca3e2d653815f0e7742ad4dce8">Mat44::sRotationY</a>(<span class="keywordtype">float</span> inY)</div>
    199. 

  199. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>{</div>
    200. 

  200. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> sv, cv;</div>
    201. 

  201. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(inY).<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(sv, cv);</div>
    202. 

  202. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">float</span> s = sv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>(), c = cv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    203. 

  203. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(c, 0, -s, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 1, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(s, 0, c, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    204. 

  204. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>}</div>
    205. 

  205. </div>
    206. 

  206. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
    207. 

  207. <div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
    208. 

  208. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="class_mat44.html#a3d393e34a43a22b0fbd2aba60f364434">   77</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a3d393e34a43a22b0fbd2aba60f364434">Mat44::sRotationZ</a>(<span class="keywordtype">float</span> inZ)</div>
    209. 

  209. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>{</div>
    210. 

  210. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> sv, cv;</div>
    211. 

  211. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(inZ).<a class="code hl_function" href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">SinCos</a>(sv, cv);</div>
    212. 

  212. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordtype">float</span> s = sv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>(), c = cv.<a class="code hl_function" href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">GetX</a>();</div>
    213. 

  213. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(c, s, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(-s, c, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 1, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    214. 

  214. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>}</div>
    215. 

  215. </div>
    216. 

  216. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
    217. 

  217. <div class="foldopen" id="foldopen00085" data-start="{" data-end="}">
    218. 

  218. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="class_mat44.html#a57c9e6198fcf68a50cb33609fac0980a">   85</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inQuat)</div>
    219. 

  219. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>{</div>
    220. 

  220. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inQuat.<a class="code hl_function" href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">IsNormalized</a>());</div>
    221. 

  221. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
    222. 

  222. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// See: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation section &#39;Quaternion-derived rotation matrix&#39;</span></div>
    223. 

  223. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span><span class="preprocessor">#ifdef JPH_USE_SSE4_1</span></div>
    224. 

  224. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    __m128 xyzw = inQuat.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    225. 

  225. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    __m128 two_xyzw = _mm_add_ps(xyzw, xyzw);</div>
    226. 

  226. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    __m128 yzxw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 0, 2, 1));</div>
    227. 

  227. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    __m128 two_yzxw = _mm_add_ps(yzxw, yzxw);</div>
    228. 

  228. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    __m128 zxyw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 1, 0, 2));</div>
    229. 

  229. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    __m128 two_zxyw = _mm_add_ps(zxyw, zxyw);</div>
    230. 

  230. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    __m128 wwww = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 3, 3, 3));</div>
    231. 

  231. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    __m128 diagonal = _mm_sub_ps(_mm_sub_ps(_mm_set1_ps(1.0f), _mm_mul_ps(two_yzxw, yzxw)), _mm_mul_ps(two_zxyw, zxyw));    <span class="comment">// (1 - 2 y^2 - 2 z^2, 1 - 2 x^2 - 2 z^2, 1 - 2 x^2 - 2 y^2, 1 - 4 w^2)</span></div>
    232. 

  232. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    __m128 plus = _mm_add_ps(_mm_mul_ps(two_xyzw, zxyw), _mm_mul_ps(two_yzxw, wwww));                                       <span class="comment">// 2 * (xz + yw, xy + zw, yz + xw, ww)</span></div>
    233. 

  233. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    __m128 minus = _mm_sub_ps(_mm_mul_ps(two_yzxw, xyzw), _mm_mul_ps(two_zxyw, wwww));                                      <span class="comment">// 2 * (xy - zw, yz - xw, xz - yw, 0)</span></div>
    234. 

  234. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    235. 

  235. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// Workaround for compiler changing _mm_sub_ps(_mm_mul_ps(...), ...) into a fused multiply sub instruction, resulting in w not being 0</span></div>
    236. 

  236. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// There doesn&#39;t appear to be a reliable way to turn this off in Clang</span></div>
    237. 

  237. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    minus = _mm_insert_ps(minus, minus, 0b1000);</div>
    238. 

  238. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
    239. 

  239. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    __m128 col0 = _mm_blend_ps(_mm_blend_ps(plus, diagonal, 0b0001), minus, 0b1100);    <span class="comment">// (1 - 2 y^2 - 2 z^2, 2 xy + 2 zw, 2 xz - 2 yw, 0)</span></div>
    240. 

  240. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    __m128 col1 = _mm_blend_ps(_mm_blend_ps(diagonal, minus, 0b1001), plus, 0b0100);    <span class="comment">// (2 xy - 2 zw, 1 - 2 x^2 - 2 z^2, 2 yz + 2 xw, 0)</span></div>
    241. 

  241. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    __m128 col2 = _mm_blend_ps(_mm_blend_ps(minus, plus, 0b0001), diagonal, 0b0100);    <span class="comment">// (2 xz + 2 yw, 2 yz - 2 xw, 1 - 2 x^2 - 2 y^2, 0)</span></div>
    242. 

  242. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    __m128 col3 = _mm_set_ps(1, 0, 0, 0);</div>
    243. 

  243. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
    244. 

  244. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(col0, col1, col2, col3);</div>
    245. 

  245. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="preprocessor">#else</span></div>
    246. 

  246. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordtype">float</span> x = inQuat.<a class="code hl_function" href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">GetX</a>();</div>
    247. 

  247. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordtype">float</span> y = inQuat.<a class="code hl_function" href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">GetY</a>();</div>
    248. 

  248. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="keywordtype">float</span> z = inQuat.<a class="code hl_function" href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">GetZ</a>();</div>
    249. 

  249. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordtype">float</span> w = inQuat.<a class="code hl_function" href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">GetW</a>();</div>
    250. 

  250. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
    251. 

  251. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">float</span> tx = x + x; <span class="comment">// Note: Using x + x instead of 2.0f * x to force this function to return the same value as the SSE4.1 version across platforms.</span></div>
    252. 

  252. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keywordtype">float</span> ty = y + y;</div>
    253. 

  253. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="keywordtype">float</span> tz = z + z;</div>
    254. 

  254. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
    255. 

  255. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">float</span> xx = tx * x;</div>
    256. 

  256. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <span class="keywordtype">float</span> yy = ty * y;</div>
    257. 

  257. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keywordtype">float</span> zz = tz * z;</div>
    258. 

  258. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordtype">float</span> xy = tx * y;</div>
    259. 

  259. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordtype">float</span> xz = tx * z;</div>
    260. 

  260. <div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keywordtype">float</span> xw = tx * w;</div>
    261. 

  261. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordtype">float</span> yz = ty * z;</div>
    262. 

  262. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordtype">float</span> yw = ty * w;</div>
    263. 

  263. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="keywordtype">float</span> zw = tz * w;</div>
    264. 

  264. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
    265. 

  265. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>((1.0f - yy) - zz, xy + zw, xz - yw, 0.0f), <span class="comment">// Note: Added extra brackets to force this function to return the same value as the SSE4.1 version across platforms.</span></div>
    266. 

  266. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(xy - zw, (1.0f - zz) - xx, yz + xw, 0.0f),</div>
    267. 

  267. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(xz + yw, yz - xw, (1.0f - xx) - yy, 0.0f),</div>
    268. 

  268. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(0.0f, 0.0f, 0.0f, 1.0f));</div>
    269. 

  269. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="preprocessor">#endif</span></div>
    270. 

  270. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>}</div>
    271. 

  271. </div>
    272. 

  272. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
    273. 

  273. <div class="foldopen" id="foldopen00139" data-start="{" data-end="}">
    274. 

  274. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">  139</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inAxis, <span class="keywordtype">float</span> inAngle)</div>
    275. 

  275. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>{</div>
    276. 

  276. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">sRotation</a>(<a class="code hl_function" href="class_quat.html#a3ac594bf7be610138e90735ae99ff8e9">Quat::sRotation</a>(inAxis, inAngle));</div>
    277. 

  277. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>}</div>
    278. 

  278. </div>
    279. 

  279. <div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
    280. 

  280. <div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
    281. 

  281. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">  144</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)</div>
    282. 

  282. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>{</div>
    283. 

  283. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(1, 0, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 1, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 1, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(inV, 1));</div>
    284. 

  284. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>}</div>
    285. 

  285. </div>
    286. 

  286. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
    287. 

  287. <div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
    288. 

  288. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">  149</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inR, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inT)</div>
    289. 

  289. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>{</div>
    290. 

  290. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> m = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">sRotation</a>(inR);</div>
    291. 

  291. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    m.<a class="code hl_function" href="class_mat44.html#ae89e485f03d9a5dbaf317c057f4eac30">SetTranslation</a>(inT);</div>
    292. 

  292. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="keywordflow">return</span> m;</div>
    293. 

  293. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>}</div>
    294. 

  294. </div>
    295. 

  295. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
    296. 

  296. <div class="foldopen" id="foldopen00156" data-start="{" data-end="}">
    297. 

  297. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="class_mat44.html#ac8be820a7eeb44bf570abb8dc01f4c59">  156</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ac8be820a7eeb44bf570abb8dc01f4c59">Mat44::sInverseRotationTranslation</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inR, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inT)</div>
    298. 

  298. <div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>{</div>
    299. 

  299. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> m = <a class="code hl_function" href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">sRotation</a>(inR.<a class="code hl_function" href="class_quat.html#ac69dfd8cdf79a19b8c3f385125ff5ddc">Conjugated</a>());</div>
    300. 

  300. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    m.<a class="code hl_function" href="class_mat44.html#ae89e485f03d9a5dbaf317c057f4eac30">SetTranslation</a>(-m.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inT));</div>
    301. 

  301. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="keywordflow">return</span> m;</div>
    302. 

  302. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>}</div>
    303. 

  303. </div>
    304. 

  304. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
    305. 

  305. <div class="foldopen" id="foldopen00163" data-start="{" data-end="}">
    306. 

  306. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno"><a class="line" href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">  163</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">Mat44::sScale</a>(<span class="keywordtype">float</span> inScale)</div>
    307. 

  307. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>{</div>
    308. 

  308. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(inScale, 0, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, inScale, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, inScale, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    309. 

  309. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>}</div>
    310. 

  310. </div>
    311. 

  311. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
    312. 

  312. <div class="foldopen" id="foldopen00168" data-start="{" data-end="}">
    313. 

  313. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="class_mat44.html#a6059fd2921e0dc33405fe05a2d3aaa76">  168</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">Mat44::sScale</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)</div>
    314. 

  314. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>{</div>
    315. 

  315. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(inV.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>(), 0, 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, inV.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>(), 0, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, inV.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>(), 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    316. 

  316. <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>}</div>
    317. 

  317. </div>
    318. 

  318. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
    319. 

  319. <div class="foldopen" id="foldopen00173" data-start="{" data-end="}">
    320. 

  320. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="class_mat44.html#a44ee960223f2270ce7ea2840418e3c72">  173</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a44ee960223f2270ce7ea2840418e3c72">Mat44::sOuterProduct</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV1, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV2)</div>
    321. 

  321. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>{</div>
    322. 

  322. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> v1(inV1, 0);</div>
    323. 

  323. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(v1 * inV2.<a class="code hl_function" href="class_vec3.html#a1b03f087ce2755a85ccba4ba56f1e64b">SplatX</a>(), v1 * inV2.<a class="code hl_function" href="class_vec3.html#aad5b4211a6d98be56362559eefd9b029">SplatY</a>(), v1 * inV2.<a class="code hl_function" href="class_vec3.html#a81f4448e17219aafda0e3b886709d1f4">SplatZ</a>(), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    324. 

  324. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>}</div>
    325. 

  325. </div>
    326. 

  326. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
    327. 

  327. <div class="foldopen" id="foldopen00179" data-start="{" data-end="}">
    328. 

  328. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="class_mat44.html#a23d5a6de1a0058d380a0bf42d263c659">  179</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a23d5a6de1a0058d380a0bf42d263c659">Mat44::sCrossProduct</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)</div>
    329. 

  329. <div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>{</div>
    330. 

  330. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="preprocessor">#ifdef JPH_USE_SSE4_1</span></div>
    331. 

  331. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="comment">// Zero out the W component</span></div>
    332. 

  332. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    __m128 zero = _mm_setzero_ps();</div>
    333. 

  333. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    __m128 v = _mm_blend_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, zero, 0b1000);</div>
    334. 

  334. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
    335. 

  335. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="comment">// Negate</span></div>
    336. 

  336. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    __m128 min_v = _mm_sub_ps(zero, v);</div>
    337. 

  337. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
    338. 

  338. <div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    339. 

  339. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        _mm_shuffle_ps(v, min_v, _MM_SHUFFLE(3, 1, 2, 3)), <span class="comment">// [0, z, -y, 0]</span></div>
    340. 

  340. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        _mm_shuffle_ps(min_v, v, _MM_SHUFFLE(3, 0, 3, 2)), <span class="comment">// [-z, 0, x, 0]</span></div>
    341. 

  341. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        _mm_blend_ps(_mm_shuffle_ps(v, v, _MM_SHUFFLE(3, 3, 3, 1)), _mm_shuffle_ps(min_v, min_v, _MM_SHUFFLE(3, 3, 0, 3)), 0b0010), <span class="comment">// [y, -x, 0, 0]</span></div>
    342. 

  342. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    343. 

  343. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span><span class="preprocessor">#else</span></div>
    344. 

  344. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordtype">float</span> x = inV.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>();</div>
    345. 

  345. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <span class="keywordtype">float</span> y = inV.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>();</div>
    346. 

  346. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keywordtype">float</span> z = inV.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>();</div>
    347. 

  347. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
    348. 

  348. <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    349. 

  349. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, z, -y, 0),</div>
    350. 

  350. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(-z, 0, x, 0),</div>
    351. 

  351. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(y, -x, 0, 0),</div>
    352. 

  352. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    353. 

  353. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span><span class="preprocessor">#endif</span></div>
    354. 

  354. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>}</div>
    355. 

  355. </div>
    356. 

  356. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
    357. 

  357. <div class="foldopen" id="foldopen00207" data-start="{" data-end="}">
    358. 

  358. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="class_mat44.html#a48f32e1e7f27b3eeaa8913d53b2c808f">  207</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a48f32e1e7f27b3eeaa8913d53b2c808f">Mat44::sLookAt</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inPos, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inTarget, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inUp)</div>
    359. 

  359. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>{</div>
    360. 

  360. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> direction = (inTarget - inPos).NormalizedOr(-<a class="code hl_function" href="class_vec3.html#aa16ac2747950d2e64537f8454872d174">Vec3::sAxisZ</a>());</div>
    361. 

  361. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> right = direction.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(inUp).<a class="code hl_function" href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">NormalizedOr</a>(<a class="code hl_function" href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a>());</div>
    362. 

  362. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> up = right.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(direction);</div>
    363. 

  363. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
    364. 

  364. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(right, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(up, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(-direction, 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(inPos, 1)).InversedRotationTranslation();</div>
    365. 

  365. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>}</div>
    366. 

  366. </div>
    367. 

  367. <div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
    368. 

  368. <div class="foldopen" id="foldopen00216" data-start="{" data-end="}">
    369. 

  369. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="class_mat44.html#aef3d368ff37b2b927b1f74573371a06e">  216</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#aef3d368ff37b2b927b1f74573371a06e">Mat44::sPerspective</a>(<span class="keywordtype">float</span> inFovY, <span class="keywordtype">float</span> inAspect, <span class="keywordtype">float</span> inNear, <span class="keywordtype">float</span> inFar)</div>
    370. 

  370. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>{</div>
    371. 

  371. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    <span class="keywordtype">float</span> height = 1.0f / <a class="code hl_function" href="_trigonometry_8h.html#a138c843d7c7c5f89c1757b159a86eb00">Tan</a>(0.5f * inFovY);</div>
    372. 

  372. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="keywordtype">float</span> width = height / inAspect;</div>
    373. 

  373. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    <span class="keywordtype">float</span> range = inFar / (inNear - inFar);</div>
    374. 

  374. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
    375. 

  375. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(width, 0.0f, 0.0f, 0.0f), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0.0f, height, 0.0f, 0.0f), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0.0f, 0.0f, range, -1.0f), <a class="code hl_class" href="class_vec4.html">Vec4</a>(0.0f, 0.0f, range * inNear, 0.0f));</div>
    376. 

  376. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>}</div>
    377. 

  377. </div>
    378. 

  378. <div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span> </div>
    379. 

  379. <div class="foldopen" id="foldopen00225" data-start="{" data-end="}">
    380. 

  380. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="class_mat44.html#a3be30e0ae2ded68ebb5ceea9afbfe5c1">  225</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_mat44.html#a3be30e0ae2ded68ebb5ceea9afbfe5c1">Mat44::operator == </a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM2)<span class="keyword"> const</span></div>
    381. 

  381. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="keyword"></span>{</div>
    382. 

  382. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(</div>
    383. 

  383. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a>(mCol[0], inM2.mCol[0]), <a class="code hl_function" href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a>(mCol[1], inM2.mCol[1])),</div>
    384. 

  384. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        <a class="code hl_function" href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a>(<a class="code hl_function" href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a>(mCol[2], inM2.mCol[2]), <a class="code hl_function" href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a>(mCol[3], inM2.mCol[3]))</div>
    385. 

  385. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    ).<a class="code hl_function" href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">TestAllTrue</a>();</div>
    386. 

  386. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>}</div>
    387. 

  387. </div>
    388. 

  388. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
    389. 

  389. <div class="foldopen" id="foldopen00233" data-start="{" data-end="}">
    390. 

  390. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="class_mat44.html#a69e383afe2897a0179fdeb7a418d961d">  233</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_mat44.html#a69e383afe2897a0179fdeb7a418d961d">Mat44::IsClose</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM2, <span class="keywordtype">float</span> inMaxDistSq)<span class="keyword"> const</span></div>
    391. 

  391. <div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span><span class="keyword"></span>{</div>
    392. 

  392. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    393. 

  393. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>        <span class="keywordflow">if</span> (!mCol[i].<a class="code hl_function" href="class_mat44.html#a69e383afe2897a0179fdeb7a418d961d">IsClose</a>(inM2.mCol[i], inMaxDistSq))</div>
    394. 

  394. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    395. 

  395. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    396. 

  396. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>}</div>
    397. 

  397. </div>
    398. 

  398. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span> </div>
    399. 

  399. <div class="foldopen" id="foldopen00241" data-start="{" data-end="}">
    400. 

  400. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="class_mat44.html#ae64ca2f2b40571def45845fecd505c64">  241</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_friend" href="class_mat44.html#afe860f899612b75ff8be07c018614c5b">Mat44::operator * </a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    401. 

  401. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span><span class="keyword"></span>{</div>
    402. 

  402. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    403. 

  403. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    404. 

  404. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    405. 

  405. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>    {</div>
    406. 

  406. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        __m128 c = inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    407. 

  407. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)));</div>
    408. 

  408. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>        t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1))));</div>
    409. 

  409. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2))));</div>
    410. 

  410. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>        t = _mm_add_ps(t, _mm_mul_ps(mCol[3].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3))));</div>
    411. 

  411. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>        result.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = t;</div>
    412. 

  412. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    }</div>
    413. 

  413. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    414. 

  414. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    415. 

  415. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    {</div>
    416. 

  416. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> c = inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    417. 

  417. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(c, 0));</div>
    418. 

  418. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>        t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(c, 1));</div>
    419. 

  419. <div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>        t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(c, 2));</div>
    420. 

  420. <div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>        t = vmlaq_f32(t, mCol[3].mValue, vdupq_laneq_f32(c, 3));</div>
    421. 

  421. <div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>        result.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = t;</div>
    422. 

  422. <div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>    }</div>
    423. 

  423. <div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span><span class="preprocessor">#else</span></div>
    424. 

  424. <div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    425. 

  425. <div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        result.mCol[i] = mCol[0] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + mCol[3] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3];</div>
    426. 

  426. <div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span><span class="preprocessor">#endif</span></div>
    427. 

  427. <div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    <span class="keywordflow">return</span> result;</div>
    428. 

  428. <div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>}</div>
    429. 

  429. </div>
    430. 

  430. <div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
    431. 

  431. <div class="foldopen" id="foldopen00271" data-start="{" data-end="}">
    432. 

  432. <div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="class_mat44.html#a8bbaea1aac790dd55a59b25a9ef7cd16">  271</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_friend" href="class_mat44.html#afe860f899612b75ff8be07c018614c5b">Mat44::operator * </a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)<span class="keyword"> const</span></div>
    433. 

  433. <div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span><span class="keyword"></span>{</div>
    434. 

  434. <div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    435. 

  435. <div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(0, 0, 0, 0)));</div>
    436. 

  436. <div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(1, 1, 1, 1))));</div>
    437. 

  437. <div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(2, 2, 2, 2))));</div>
    438. 

  438. <div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    t = _mm_add_ps(t, mCol[3].mValue);</div>
    439. 

  439. <div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a0fd5f4e55649a94f140bd9d6fe38be3c">Vec3::sFixW</a>(t);</div>
    440. 

  440. <div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    441. 

  441. <div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 0));</div>
    442. 

  442. <div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 1));</div>
    443. 

  443. <div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 2));</div>
    444. 

  444. <div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    t = vaddq_f32(t, mCol[3].mValue); <span class="comment">// Don&#39;t combine this with the first mul into a fused multiply add, causes precision issues</span></div>
    445. 

  445. <div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a0fd5f4e55649a94f140bd9d6fe38be3c">Vec3::sFixW</a>(t);</div>
    446. 

  446. <div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span><span class="preprocessor">#else</span></div>
    447. 

  447. <div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(</div>
    448. 

  448. <div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>        mCol[0].mF32[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0],</div>
    449. 

  449. <div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1],</div>
    450. 

  450. <div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2]);</div>
    451. 

  451. <div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="preprocessor">#endif</span></div>
    452. 

  452. <div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>}</div>
    453. 

  453. </div>
    454. 

  454. <div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
    455. 

  455. <div class="foldopen" id="foldopen00293" data-start="{" data-end="}">
    456. 

  456. <div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="class_mat44.html#a087d4151cced62fdce757c1895d2d834">  293</a></span><a class="code hl_class" href="class_vec4.html">Vec4</a> <a class="code hl_friend" href="class_mat44.html#afe860f899612b75ff8be07c018614c5b">Mat44::operator * </a>(<a class="code hl_class" href="class_vec4.html">Vec4Arg</a> inV)<span class="keyword"> const</span></div>
    457. 

  457. <div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span><span class="keyword"></span>{</div>
    458. 

  458. <div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    459. 

  459. <div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, _MM_SHUFFLE(0, 0, 0, 0)));</div>
    460. 

  460. <div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, _MM_SHUFFLE(1, 1, 1, 1))));</div>
    461. 

  461. <div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, _MM_SHUFFLE(2, 2, 2, 2))));</div>
    462. 

  462. <div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[3].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, _MM_SHUFFLE(3, 3, 3, 3))));</div>
    463. 

  463. <div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    <span class="keywordflow">return</span> t;</div>
    464. 

  464. <div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    465. 

  465. <div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, 0));</div>
    466. 

  466. <div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, 1));</div>
    467. 

  467. <div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, 2));</div>
    468. 

  468. <div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    t = vmlaq_f32(t, mCol[3].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>, 3));</div>
    469. 

  469. <div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    <span class="keywordflow">return</span> t;</div>
    470. 

  470. <div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span><span class="preprocessor">#else</span></div>
    471. 

  471. <div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec4.html">Vec4</a>(</div>
    472. 

  472. <div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>        mCol[0].mF32[0] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3],</div>
    473. 

  473. <div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3],</div>
    474. 

  474. <div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3],</div>
    475. 

  475. <div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + mCol[3].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3] * inV.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3]);</div>
    476. 

  476. <div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span><span class="preprocessor">#endif</span></div>
    477. 

  477. <div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>}</div>
    478. 

  478. </div>
    479. 

  479. <div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span> </div>
    480. 

  480. <div class="foldopen" id="foldopen00316" data-start="{" data-end="}">
    481. 

  481. <div class="line"><a id="l00316" name="l00316"></a><span class="lineno"><a class="line" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">  316</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Mat44::Multiply3x3</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)<span class="keyword"> const</span></div>
    482. 

  482. <div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span><span class="keyword"></span>{</div>
    483. 

  483. <div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    484. 

  484. <div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(0, 0, 0, 0)));</div>
    485. 

  485. <div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(1, 1, 1, 1))));</div>
    486. 

  486. <div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, _MM_SHUFFLE(2, 2, 2, 2))));</div>
    487. 

  487. <div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a0fd5f4e55649a94f140bd9d6fe38be3c">Vec3::sFixW</a>(t);</div>
    488. 

  488. <div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    489. 

  489. <div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 0));</div>
    490. 

  490. <div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 1));</div>
    491. 

  491. <div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 2));</div>
    492. 

  492. <div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_vec3.html#a0fd5f4e55649a94f140bd9d6fe38be3c">Vec3::sFixW</a>(t);</div>
    493. 

  493. <div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span><span class="preprocessor">#else</span></div>
    494. 

  494. <div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>    <span class="keywordflow">return</span> <a class="code hl_class" href="class_vec3.html">Vec3</a>(</div>
    495. 

  495. <div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>        mCol[0].mF32[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2],</div>
    496. 

  496. <div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2],</div>
    497. 

  497. <div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>        mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] * inV.<a class="code hl_variable" href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">mF32</a>[2]);</div>
    498. 

  498. <div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span><span class="preprocessor">#endif</span></div>
    499. 

  499. <div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>}</div>
    500. 

  500. </div>
    501. 

  501. <div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span> </div>
    502. 

  502. <div class="foldopen" id="foldopen00336" data-start="{" data-end="}">
    503. 

  503. <div class="line"><a id="l00336" name="l00336"></a><span class="lineno"><a class="line" href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">  336</a></span><a class="code hl_class" href="class_vec3.html">Vec3</a> <a class="code hl_function" href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Mat44::Multiply3x3Transposed</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inV)<span class="keyword"> const</span></div>
    504. 

  504. <div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span><span class="keyword"></span>{</div>
    505. 

  505. <div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span><span class="preprocessor">#if defined(JPH_USE_SSE4_1)</span></div>
    506. 

  506. <div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    __m128 x = _mm_dp_ps(mCol[0].mValue, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 0x7f);</div>
    507. 

  507. <div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    __m128 y = _mm_dp_ps(mCol[1].mValue, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 0x7f);</div>
    508. 

  508. <div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    __m128 xy = _mm_blend_ps(x, y, 0b0010);</div>
    509. 

  509. <div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    __m128 z = _mm_dp_ps(mCol[2].mValue, inV.<a class="code hl_variable" href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">mValue</a>, 0x7f);</div>
    510. 

  510. <div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>    __m128 xyzz = _mm_blend_ps(xy, z, 0b1100);</div>
    511. 

  511. <div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    <span class="keywordflow">return</span> xyzz;</div>
    512. 

  512. <div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span><span class="preprocessor">#else</span></div>
    513. 

  513. <div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">Transposed3x3</a>().<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inV);</div>
    514. 

  514. <div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span><span class="preprocessor">#endif</span></div>
    515. 

  515. <div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>}</div>
    516. 

  516. </div>
    517. 

  517. <div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
    518. 

  518. <div class="foldopen" id="foldopen00350" data-start="{" data-end="}">
    519. 

  519. <div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="class_mat44.html#a03490bf0526b79cc14125d9e6500576e">  350</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Mat44::Multiply3x3</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    520. 

  520. <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span><span class="keyword"></span>{</div>
    521. 

  521. <div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[0][3] == 0.0f);</div>
    522. 

  522. <div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[1][3] == 0.0f);</div>
    523. 

  523. <div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[2][3] == 0.0f);</div>
    524. 

  524. <div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span> </div>
    525. 

  525. <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    526. 

  526. <div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    527. 

  527. <div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    528. 

  528. <div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    {</div>
    529. 

  529. <div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>        __m128 c = inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    530. 

  530. <div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>        __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)));</div>
    531. 

  531. <div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1))));</div>
    532. 

  532. <div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>        t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2))));</div>
    533. 

  533. <div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>        result.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = t;</div>
    534. 

  534. <div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>    }</div>
    535. 

  535. <div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    536. 

  536. <div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    537. 

  537. <div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    {</div>
    538. 

  538. <div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>        <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> c = inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a>;</div>
    539. 

  539. <div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>        <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(c, 0));</div>
    540. 

  540. <div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(c, 1));</div>
    541. 

  541. <div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(c, 2));</div>
    542. 

  542. <div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        result.mCol[i].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = t;</div>
    543. 

  543. <div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>    }</div>
    544. 

  544. <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span><span class="preprocessor">#else</span></div>
    545. 

  545. <div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; ++i)</div>
    546. 

  546. <div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>        result.mCol[i] = mCol[0] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2] * inM.mCol[i].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2];</div>
    547. 

  547. <div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span><span class="preprocessor">#endif</span></div>
    548. 

  548. <div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>    result.mCol[3] = <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1);</div>
    549. 

  549. <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>    <span class="keywordflow">return</span> result;</div>
    550. 

  550. <div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>}</div>
    551. 

  551. </div>
    552. 

  552. <div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span> </div>
    553. 

  553. <div class="foldopen" id="foldopen00383" data-start="{" data-end="}">
    554. 

  554. <div class="line"><a id="l00383" name="l00383"></a><span class="lineno"><a class="line" href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">  383</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">Mat44::Multiply3x3LeftTransposed</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    555. 

  555. <div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span><span class="keyword"></span>{</div>
    556. 

  556. <div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>    <span class="comment">// Transpose left hand side</span></div>
    557. 

  557. <div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> trans = <a class="code hl_function" href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">Transposed3x3</a>();</div>
    558. 

  558. <div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span> </div>
    559. 

  559. <div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>    <span class="comment">// Do 3x3 matrix multiply</span></div>
    560. 

  560. <div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    561. 

  561. <div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>    result.mCol[0] = trans.mCol[0] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() + trans.mCol[1] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() + trans.mCol[2] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>();</div>
    562. 

  562. <div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>    result.mCol[1] = trans.mCol[0] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() + trans.mCol[1] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() + trans.mCol[2] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>();</div>
    563. 

  563. <div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>    result.mCol[2] = trans.mCol[0] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() + trans.mCol[1] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() + trans.mCol[2] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>();</div>
    564. 

  564. <div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>    result.mCol[3] = <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1);</div>
    565. 

  565. <div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>    <span class="keywordflow">return</span> result;</div>
    566. 

  566. <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>}</div>
    567. 

  567. </div>
    568. 

  568. <div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span> </div>
    569. 

  569. <div class="foldopen" id="foldopen00397" data-start="{" data-end="}">
    570. 

  570. <div class="line"><a id="l00397" name="l00397"></a><span class="lineno"><a class="line" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">  397</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Mat44::Multiply3x3RightTransposed</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    571. 

  571. <div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span><span class="keyword"></span>{</div>
    572. 

  572. <div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[0][3] == 0.0f);</div>
    573. 

  573. <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[1][3] == 0.0f);</div>
    574. 

  574. <div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[2][3] == 0.0f);</div>
    575. 

  575. <div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span> </div>
    576. 

  576. <div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    577. 

  577. <div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    result.mCol[0] = mCol[0] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() + mCol[1] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>() + mCol[2] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a02525e7f8473c93268058324115eeb02">SplatX</a>();</div>
    578. 

  578. <div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    result.mCol[1] = mCol[0] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() + mCol[1] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>() + mCol[2] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">SplatY</a>();</div>
    579. 

  579. <div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    result.mCol[2] = mCol[0] * inM.mCol[0].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>() + mCol[1] * inM.mCol[1].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>() + mCol[2] * inM.mCol[2].<a class="code hl_function" href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">SplatZ</a>();</div>
    580. 

  580. <div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>    result.mCol[3] = <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1);</div>
    581. 

  581. <div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>    <span class="keywordflow">return</span> result;</div>
    582. 

  582. <div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>}</div>
    583. 

  583. </div>
    584. 

  584. <div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
    585. 

  585. <div class="foldopen" id="foldopen00411" data-start="{" data-end="}">
    586. 

  586. <div class="line"><a id="l00411" name="l00411"></a><span class="lineno"><a class="line" href="class_mat44.html#adde2d0df064c3457190cdc6fb0da5dc3">  411</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_friend" href="class_mat44.html#afe860f899612b75ff8be07c018614c5b">Mat44::operator * </a>(<span class="keywordtype">float</span> inV)<span class="keyword"> const</span></div>
    587. 

  587. <div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span><span class="keyword"></span>{</div>
    588. 

  588. <div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> multiplier = <a class="code hl_function" href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a>(inV);</div>
    589. 

  589. <div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span> </div>
    590. 

  590. <div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    591. 

  591. <div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    592. 

  592. <div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>        result.mCol[c] = mCol[c] * multiplier;</div>
    593. 

  593. <div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>    <span class="keywordflow">return</span> result;</div>
    594. 

  594. <div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>}</div>
    595. 

  595. </div>
    596. 

  596. <div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span> </div>
    597. 

  597. <div class="foldopen" id="foldopen00421" data-start="{" data-end="}">
    598. 

  598. <div class="line"><a id="l00421" name="l00421"></a><span class="lineno"><a class="line" href="class_mat44.html#a2a3d5b10d49ac1eed4eae855a0fd25d9">  421</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> &amp;<a class="code hl_function" href="class_mat44.html#a2a3d5b10d49ac1eed4eae855a0fd25d9">Mat44::operator *= </a>(<span class="keywordtype">float</span> inV)</div>
    599. 

  599. <div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>{</div>
    600. 

  600. <div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    601. 

  601. <div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>        mCol[c] *= inV;</div>
    602. 

  602. <div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span> </div>
    603. 

  603. <div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
    604. 

  604. <div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>}</div>
    605. 

  605. </div>
    606. 

  606. <div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span> </div>
    607. 

  607. <div class="foldopen" id="foldopen00429" data-start="{" data-end="}">
    608. 

  608. <div class="line"><a id="l00429" name="l00429"></a><span class="lineno"><a class="line" href="class_mat44.html#ac0c3181759450b3498b5dc53967f803d">  429</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ac0c3181759450b3498b5dc53967f803d">Mat44::operator + </a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    609. 

  609. <div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span><span class="keyword"></span>{</div>
    610. 

  610. <div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    611. 

  611. <div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    612. 

  612. <div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>        result.mCol[i] = mCol[i] + inM.mCol[i];</div>
    613. 

  613. <div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>    <span class="keywordflow">return</span> result;</div>
    614. 

  614. <div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>}</div>
    615. 

  615. </div>
    616. 

  616. <div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span> </div>
    617. 

  617. <div class="foldopen" id="foldopen00437" data-start="{" data-end="}">
    618. 

  618. <div class="line"><a id="l00437" name="l00437"></a><span class="lineno"><a class="line" href="class_mat44.html#a22b266ee0c8cb215e96edaebc50d2cbf">  437</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a22b266ee0c8cb215e96edaebc50d2cbf">Mat44::operator - </a>()<span class="keyword"> const</span></div>
    619. 

  619. <div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span><span class="keyword"></span>{</div>
    620. 

  620. <div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    621. 

  621. <div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    622. 

  622. <div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>        result.mCol[i] = -mCol[i];</div>
    623. 

  623. <div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    <span class="keywordflow">return</span> result;</div>
    624. 

  624. <div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>}</div>
    625. 

  625. </div>
    626. 

  626. <div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span> </div>
    627. 

  627. <div class="foldopen" id="foldopen00445" data-start="{" data-end="}">
    628. 

  628. <div class="line"><a id="l00445" name="l00445"></a><span class="lineno"><a class="line" href="class_mat44.html#acb281c6516de9bfd045aa029f95ba0d0">  445</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a22b266ee0c8cb215e96edaebc50d2cbf">Mat44::operator - </a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)<span class="keyword"> const</span></div>
    629. 

  629. <div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span><span class="keyword"></span>{</div>
    630. 

  630. <div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    631. 

  631. <div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; ++i)</div>
    632. 

  632. <div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        result.mCol[i] = mCol[i] - inM.mCol[i];</div>
    633. 

  633. <div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>    <span class="keywordflow">return</span> result;</div>
    634. 

  634. <div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>}</div>
    635. 

  635. </div>
    636. 

  636. <div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span> </div>
    637. 

  637. <div class="foldopen" id="foldopen00453" data-start="{" data-end="}">
    638. 

  638. <div class="line"><a id="l00453" name="l00453"></a><span class="lineno"><a class="line" href="class_mat44.html#a60273e38c2e5071066f14905698ef994">  453</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> &amp;<a class="code hl_function" href="class_mat44.html#a60273e38c2e5071066f14905698ef994">Mat44::operator += </a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)</div>
    639. 

  639. <div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>{</div>
    640. 

  640. <div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    641. 

  641. <div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        mCol[c] += inM.mCol[c];</div>
    642. 

  642. <div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span> </div>
    643. 

  643. <div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
    644. 

  644. <div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>}</div>
    645. 

  645. </div>
    646. 

  646. <div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span> </div>
    647. 

  647. <div class="foldopen" id="foldopen00461" data-start="{" data-end="}">
    648. 

  648. <div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="class_mat44.html#a1f51050b35215131c7da9a7de78a3e1e">  461</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_mat44.html#a1f51050b35215131c7da9a7de78a3e1e">Mat44::StoreFloat4x4</a>(<a class="code hl_class" href="class_float4.html">Float4</a> *outV)<span class="keyword"> const</span></div>
    649. 

  649. <div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span><span class="keyword"></span>{</div>
    650. 

  650. <div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    651. 

  651. <div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>        mCol[c].StoreFloat4(outV + c);</div>
    652. 

  652. <div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>}</div>
    653. 

  653. </div>
    654. 

  654. <div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span> </div>
    655. 

  655. <div class="foldopen" id="foldopen00467" data-start="{" data-end="}">
    656. 

  656. <div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="class_mat44.html#a388723db2d35de31efcee6ff0cfb711d">  467</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a388723db2d35de31efcee6ff0cfb711d">Mat44::Transposed</a>()<span class="keyword"> const</span></div>
    657. 

  657. <div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span><span class="keyword"></span>{</div>
    658. 

  658. <div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    659. 

  659. <div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));</div>
    660. 

  660. <div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>    __m128 tmp3 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));</div>
    661. 

  661. <div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>    __m128 tmp2 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(1, 0, 1, 0));</div>
    662. 

  662. <div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>    __m128 tmp4 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(3, 2, 3, 2));</div>
    663. 

  663. <div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span> </div>
    664. 

  664. <div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    665. 

  665. <div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(2, 0, 2, 0));</div>
    666. 

  666. <div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(3, 1, 3, 1));</div>
    667. 

  667. <div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(2, 0, 2, 0));</div>
    668. 

  668. <div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>    result.mCol[3].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(3, 1, 3, 1));</div>
    669. 

  669. <div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>    <span class="keywordflow">return</span> result;</div>
    670. 

  670. <div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    671. 

  671. <div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>    float32x4x2_t tmp1 = vzipq_f32(mCol[0].mValue, mCol[2].mValue);</div>
    672. 

  672. <div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    float32x4x2_t tmp2 = vzipq_f32(mCol[1].mValue, mCol[3].mValue);</div>
    673. 

  673. <div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>    float32x4x2_t tmp3 = vzipq_f32(tmp1.val[0], tmp2.val[0]);</div>
    674. 

  674. <div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    float32x4x2_t tmp4 = vzipq_f32(tmp1.val[1], tmp2.val[1]);</div>
    675. 

  675. <div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span> </div>
    676. 

  676. <div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    677. 

  677. <div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp3.val[0];</div>
    678. 

  678. <div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp3.val[1];</div>
    679. 

  679. <div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp4.val[0];</div>
    680. 

  680. <div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>    result.mCol[3].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp4.val[1];</div>
    681. 

  681. <div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>    <span class="keywordflow">return</span> result;</div>
    682. 

  682. <div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span><span class="preprocessor">#else</span></div>
    683. 

  683. <div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    684. 

  684. <div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 4; ++c)</div>
    685. 

  685. <div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> r = 0; r &lt; 4; ++r)</div>
    686. 

  686. <div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>            result.mCol[r].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[c] = mCol[c].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[r];</div>
    687. 

  687. <div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>    <span class="keywordflow">return</span> result;</div>
    688. 

  688. <div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span><span class="preprocessor">#endif</span></div>
    689. 

  689. <div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>}</div>
    690. 

  690. </div>
    691. 

  691. <div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span> </div>
    692. 

  692. <div class="foldopen" id="foldopen00502" data-start="{" data-end="}">
    693. 

  693. <div class="line"><a id="l00502" name="l00502"></a><span class="lineno"><a class="line" href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">  502</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">Mat44::Transposed3x3</a>()<span class="keyword"> const</span></div>
    694. 

  694. <div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span><span class="keyword"></span>{</div>
    695. 

  695. <div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    696. 

  696. <div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>    __m128 zero = _mm_setzero_ps();</div>
    697. 

  697. <div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));</div>
    698. 

  698. <div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    __m128 tmp3 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));</div>
    699. 

  699. <div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>    __m128 tmp2 = _mm_shuffle_ps(mCol[2].mValue, zero, _MM_SHUFFLE(1, 0, 1, 0));</div>
    700. 

  700. <div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    __m128 tmp4 = _mm_shuffle_ps(mCol[2].mValue, zero, _MM_SHUFFLE(3, 2, 3, 2));</div>
    701. 

  701. <div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span> </div>
    702. 

  702. <div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    703. 

  703. <div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(2, 0, 2, 0));</div>
    704. 

  704. <div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(3, 1, 3, 1));</div>
    705. 

  705. <div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(2, 0, 2, 0));</div>
    706. 

  706. <div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    707. 

  707. <div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    float32x4x2_t tmp1 = vzipq_f32(mCol[0].mValue, mCol[2].mValue);</div>
    708. 

  708. <div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    float32x4x2_t tmp2 = vzipq_f32(mCol[1].mValue, vdupq_n_f32(0));</div>
    709. 

  709. <div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>    float32x4x2_t tmp3 = vzipq_f32(tmp1.val[0], tmp2.val[0]);</div>
    710. 

  710. <div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>    float32x4x2_t tmp4 = vzipq_f32(tmp1.val[1], tmp2.val[1]);</div>
    711. 

  711. <div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span> </div>
    712. 

  712. <div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    713. 

  713. <div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp3.val[0];</div>
    714. 

  714. <div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp3.val[1];</div>
    715. 

  715. <div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = tmp4.val[0];</div>
    716. 

  716. <div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span><span class="preprocessor">#else</span></div>
    717. 

  717. <div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    718. 

  718. <div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; 3; ++c)</div>
    719. 

  719. <div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>    {</div>
    720. 

  720. <div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> r = 0; r &lt; 3; ++r)</div>
    721. 

  721. <div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>            result.mCol[c].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[r] = mCol[r].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[c];</div>
    722. 

  722. <div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>        result.mCol[c].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3] = 0;</div>
    723. 

  723. <div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>    }</div>
    724. 

  724. <div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span><span class="preprocessor">#endif</span></div>
    725. 

  725. <div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>    result.mCol[3] = <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1);</div>
    726. 

  726. <div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>    <span class="keywordflow">return</span> result;</div>
    727. 

  727. <div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>}</div>
    728. 

  728. </div>
    729. 

  729. <div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span> </div>
    730. 

  730. <div class="foldopen" id="foldopen00538" data-start="{" data-end="}">
    731. 

  731. <div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="class_mat44.html#aae48032b0b6d27778617b8546135b057">  538</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#aae48032b0b6d27778617b8546135b057">Mat44::Inversed</a>()<span class="keyword"> const</span></div>
    732. 

  732. <div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span><span class="keyword"></span>{</div>
    733. 

  733. <div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span><span class="preprocessor">#if defined(JPH_USE_SSE)</span></div>
    734. 

  734. <div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>    <span class="comment">// Algorithm from: http://download.intel.com/design/PentiumIII/sml/24504301.pdf</span></div>
    735. 

  735. <div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>    <span class="comment">// Streaming SIMD Extensions - Inverse of 4x4 Matrix</span></div>
    736. 

  736. <div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>    <span class="comment">// Adapted to load data using _mm_shuffle_ps instead of loading from memory</span></div>
    737. 

  737. <div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>    <span class="comment">// Replaced _mm_rcp_ps with _mm_div_ps for better accuracy</span></div>
    738. 

  738. <div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span> </div>
    739. 

  739. <div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span>    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));</div>
    740. 

  740. <div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>    __m128 row1 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(1, 0, 1, 0));</div>
    741. 

  741. <div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>    __m128 row0 = _mm_shuffle_ps(tmp1, row1, _MM_SHUFFLE(2, 0, 2, 0));</div>
    742. 

  742. <div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>    row1 = _mm_shuffle_ps(row1, tmp1, _MM_SHUFFLE(3, 1, 3, 1));</div>
    743. 

  743. <div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>    tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));</div>
    744. 

  744. <div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>    __m128 row3 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(3, 2, 3, 2));</div>
    745. 

  745. <div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>    __m128 row2 = _mm_shuffle_ps(tmp1, row3, _MM_SHUFFLE(2, 0, 2, 0));</div>
    746. 

  746. <div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>    row3 = _mm_shuffle_ps(row3, tmp1, _MM_SHUFFLE(3, 1, 3, 1));</div>
    747. 

  747. <div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span> </div>
    748. 

  748. <div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>    tmp1 = _mm_mul_ps(row2, row3);</div>
    749. 

  749. <div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    750. 

  750. <div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>    __m128 minor0 = _mm_mul_ps(row1, tmp1);</div>
    751. 

  751. <div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>    __m128 minor1 = _mm_mul_ps(row0, tmp1);</div>
    752. 

  752. <div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    753. 

  753. <div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>    minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0);</div>
    754. 

  754. <div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>    minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1);</div>
    755. 

  755. <div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>    minor1 = _mm_shuffle_ps(minor1, minor1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    756. 

  756. <div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span> </div>
    757. 

  757. <div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>    tmp1 = _mm_mul_ps(row1, row2);</div>
    758. 

  758. <div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    759. 

  759. <div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>    minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0);</div>
    760. 

  760. <div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    __m128 minor3 = _mm_mul_ps(row0, tmp1);</div>
    761. 

  761. <div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    762. 

  762. <div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1));</div>
    763. 

  763. <div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>    minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3);</div>
    764. 

  764. <div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>    minor3 = _mm_shuffle_ps(minor3, minor3, _MM_SHUFFLE(1, 0, 3, 2));</div>
    765. 

  765. <div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span> </div>
    766. 

  766. <div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, _MM_SHUFFLE(1, 0, 3, 2)), row3);</div>
    767. 

  767. <div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    768. 

  768. <div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    row2 = _mm_shuffle_ps(row2, row2, _MM_SHUFFLE(1, 0, 3, 2));</div>
    769. 

  769. <div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0);</div>
    770. 

  770. <div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>    __m128 minor2 = _mm_mul_ps(row0, tmp1);</div>
    771. 

  771. <div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    772. 

  772. <div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1));</div>
    773. 

  773. <div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>    minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2);</div>
    774. 

  774. <div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>    minor2 = _mm_shuffle_ps(minor2, minor2, _MM_SHUFFLE(1, 0, 3, 2));</div>
    775. 

  775. <div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span> </div>
    776. 

  776. <div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>    tmp1 = _mm_mul_ps(row0, row1);</div>
    777. 

  777. <div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    778. 

  778. <div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>    minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2);</div>
    779. 

  779. <div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>    minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3);</div>
    780. 

  780. <div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    781. 

  781. <div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>    minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2);</div>
    782. 

  782. <div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1));</div>
    783. 

  783. <div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span> </div>
    784. 

  784. <div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    tmp1 = _mm_mul_ps(row0, row3);</div>
    785. 

  785. <div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    786. 

  786. <div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1));</div>
    787. 

  787. <div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2);</div>
    788. 

  788. <div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    789. 

  789. <div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>    minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1);</div>
    790. 

  790. <div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>    minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1));</div>
    791. 

  791. <div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span> </div>
    792. 

  792. <div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>    tmp1 = _mm_mul_ps(row0, row2);</div>
    793. 

  793. <div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));</div>
    794. 

  794. <div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>    minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1);</div>
    795. 

  795. <div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1));</div>
    796. 

  796. <div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));</div>
    797. 

  797. <div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1));</div>
    798. 

  798. <div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>    minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3);</div>
    799. 

  799. <div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span> </div>
    800. 

  800. <div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>    __m128 det = _mm_mul_ps(row0, minor0);</div>
    801. 

  801. <div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>    det = _mm_add_ps(_mm_shuffle_ps(det, det, _MM_SHUFFLE(2, 3, 0, 1)), det); <span class="comment">// Original code did (x + z) + (y + w), changed to (x + y) + (z + w) to match the ARM code below and make the result cross platform deterministic</span></div>
    802. 

  802. <div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>    det = _mm_add_ss(_mm_shuffle_ps(det, det, _MM_SHUFFLE(1, 0, 3, 2)), det);</div>
    803. 

  803. <div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>    det = _mm_div_ss(_mm_set_ss(1.0f), det);</div>
    804. 

  804. <div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>    det = _mm_shuffle_ps(det, det, _MM_SHUFFLE(0, 0, 0, 0));</div>
    805. 

  805. <div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span> </div>
    806. 

  806. <div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    807. 

  807. <div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_mul_ps(det, minor0);</div>
    808. 

  808. <div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_mul_ps(det, minor1);</div>
    809. 

  809. <div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_mul_ps(det, minor2);</div>
    810. 

  810. <div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>    result.mCol[3].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = _mm_mul_ps(det, minor3);</div>
    811. 

  811. <div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>    <span class="keywordflow">return</span> result;</div>
    812. 

  812. <div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    813. 

  813. <div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>    <span class="comment">// Adapted from the SSE version, there&#39;s surprising few articles about efficient ways of calculating an inverse for ARM on the internet</span></div>
    814. 

  814. <div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> tmp1 = JPH_NEON_SHUFFLE_F32x4(mCol[0].mValue, mCol[1].mValue, 0, 1, 4, 5);</div>
    815. 

  815. <div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> row1 = JPH_NEON_SHUFFLE_F32x4(mCol[2].mValue, mCol[3].mValue, 0, 1, 4, 5);</div>
    816. 

  816. <div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> row0 = JPH_NEON_SHUFFLE_F32x4(tmp1, row1, 0, 2, 4, 6);</div>
    817. 

  817. <div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>    row1 = JPH_NEON_SHUFFLE_F32x4(row1, tmp1, 1, 3, 5, 7);</div>
    818. 

  818. <div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(mCol[0].mValue, mCol[1].mValue, 2, 3, 6, 7);</div>
    819. 

  819. <div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> row3 = JPH_NEON_SHUFFLE_F32x4(mCol[2].mValue, mCol[3].mValue, 2, 3, 6, 7);</div>
    820. 

  820. <div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> row2 = JPH_NEON_SHUFFLE_F32x4(tmp1, row3, 0, 2, 4, 6);</div>
    821. 

  821. <div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span>    row3 = JPH_NEON_SHUFFLE_F32x4(row3, tmp1, 1, 3, 5, 7);</div>
    822. 

  822. <div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span> </div>
    823. 

  823. <div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>    tmp1 = vmulq_f32(row2, row3);</div>
    824. 

  824. <div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    825. 

  825. <div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> minor0 = vmulq_f32(row1, tmp1);</div>
    826. 

  826. <div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> minor1 = vmulq_f32(row0, tmp1);</div>
    827. 

  827. <div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    828. 

  828. <div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>    minor0 = vsubq_f32(vmulq_f32(row1, tmp1), minor0);</div>
    829. 

  829. <div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>    minor1 = vsubq_f32(vmulq_f32(row0, tmp1), minor1);</div>
    830. 

  830. <div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>    minor1 = JPH_NEON_SHUFFLE_F32x4(minor1, minor1, 2, 3, 0, 1);</div>
    831. 

  831. <div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span> </div>
    832. 

  832. <div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>    tmp1 = vmulq_f32(row1, row2);</div>
    833. 

  833. <div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    834. 

  834. <div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>    minor0 = vaddq_f32(vmulq_f32(row3, tmp1), minor0);</div>
    835. 

  835. <div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> minor3 = vmulq_f32(row0, tmp1);</div>
    836. 

  836. <div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    837. 

  837. <div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>    minor0 = vsubq_f32(minor0, vmulq_f32(row3, tmp1));</div>
    838. 

  838. <div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>    minor3 = vsubq_f32(vmulq_f32(row0, tmp1), minor3);</div>
    839. 

  839. <div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>    minor3 = JPH_NEON_SHUFFLE_F32x4(minor3, minor3, 2, 3, 0, 1);</div>
    840. 

  840. <div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span> </div>
    841. 

  841. <div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(row1, row1, 2, 3, 0, 1);</div>
    842. 

  842. <div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>    tmp1 = vmulq_f32(tmp1, row3);</div>
    843. 

  843. <div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    844. 

  844. <div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>    row2 = JPH_NEON_SHUFFLE_F32x4(row2, row2, 2, 3, 0, 1);</div>
    845. 

  845. <div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>    minor0 = vaddq_f32(vmulq_f32(row2, tmp1), minor0);</div>
    846. 

  846. <div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> minor2 = vmulq_f32(row0, tmp1);</div>
    847. 

  847. <div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    848. 

  848. <div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>    minor0 = vsubq_f32(minor0, vmulq_f32(row2, tmp1));</div>
    849. 

  849. <div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span>    minor2 = vsubq_f32(vmulq_f32(row0, tmp1), minor2);</div>
    850. 

  850. <div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>    minor2 = JPH_NEON_SHUFFLE_F32x4(minor2, minor2, 2, 3, 0, 1);</div>
    851. 

  851. <div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span> </div>
    852. 

  852. <div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    tmp1 = vmulq_f32(row0, row1);</div>
    853. 

  853. <div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    854. 

  854. <div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span>    minor2 = vaddq_f32(vmulq_f32(row3, tmp1), minor2);</div>
    855. 

  855. <div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>    minor3 = vsubq_f32(vmulq_f32(row2, tmp1), minor3);</div>
    856. 

  856. <div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    857. 

  857. <div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>    minor2 = vsubq_f32(vmulq_f32(row3, tmp1), minor2);</div>
    858. 

  858. <div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>    minor3 = vsubq_f32(minor3, vmulq_f32(row2, tmp1));</div>
    859. 

  859. <div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
    860. 

  860. <div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>    tmp1 = vmulq_f32(row0, row3);</div>
    861. 

  861. <div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    862. 

  862. <div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span>    minor1 = vsubq_f32(minor1, vmulq_f32(row2, tmp1));</div>
    863. 

  863. <div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span>    minor2 = vaddq_f32(vmulq_f32(row1, tmp1), minor2);</div>
    864. 

  864. <div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    865. 

  865. <div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    minor1 = vaddq_f32(vmulq_f32(row2, tmp1), minor1);</div>
    866. 

  866. <div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>    minor2 = vsubq_f32(minor2, vmulq_f32(row1, tmp1));</div>
    867. 

  867. <div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span> </div>
    868. 

  868. <div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>    tmp1 = vmulq_f32(row0, row2);</div>
    869. 

  869. <div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);</div>
    870. 

  870. <div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>    minor1 = vaddq_f32(vmulq_f32(row3, tmp1), minor1);</div>
    871. 

  871. <div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>    minor3 = vsubq_f32(minor3, vmulq_f32(row1, tmp1));</div>
    872. 

  872. <div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span>    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);</div>
    873. 

  873. <div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span>    minor1 = vsubq_f32(minor1, vmulq_f32(row3, tmp1));</div>
    874. 

  874. <div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span>    minor3 = vaddq_f32(vmulq_f32(row1, tmp1), minor3);</div>
    875. 

  875. <div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span> </div>
    876. 

  876. <div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    <a class="code hl_typedef" href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Type</a> det = vmulq_f32(row0, minor0);</div>
    877. 

  877. <div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    det = vdupq_n_f32(vaddvq_f32(det));</div>
    878. 

  878. <div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>    det = vdivq_f32(vdupq_n_f32(1.0f), det);</div>
    879. 

  879. <div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span> </div>
    880. 

  880. <div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> result;</div>
    881. 

  881. <div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>    result.mCol[0].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = vmulq_f32(det, minor0);</div>
    882. 

  882. <div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    result.mCol[1].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = vmulq_f32(det, minor1);</div>
    883. 

  883. <div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    result.mCol[2].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = vmulq_f32(det, minor2);</div>
    884. 

  884. <div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span>    result.mCol[3].<a class="code hl_variable" href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">mValue</a> = vmulq_f32(det, minor3);</div>
    885. 

  885. <div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    <span class="keywordflow">return</span> result;</div>
    886. 

  886. <div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span><span class="preprocessor">#else</span></div>
    887. 

  887. <div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>    <span class="keywordtype">float</span> m00 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), m10 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), m20 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), m30 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(3, 0);</div>
    888. 

  888. <div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span>    <span class="keywordtype">float</span> m01 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), m11 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), m21 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), m31 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(3, 1);</div>
    889. 

  889. <div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>    <span class="keywordtype">float</span> m02 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), m12 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), m22 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), m32 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(3, 2);</div>
    890. 

  890. <div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>    <span class="keywordtype">float</span> m03 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 3), m13 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 3), m23 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 3), m33 = <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(3, 3);</div>
    891. 

  891. <div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span> </div>
    892. 

  892. <div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span>    <span class="keywordtype">float</span> m10211120 = m10 * m21 - m11 * m20;</div>
    893. 

  893. <div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>    <span class="keywordtype">float</span> m10221220 = m10 * m22 - m12 * m20;</div>
    894. 

  894. <div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>    <span class="keywordtype">float</span> m10231320 = m10 * m23 - m13 * m20;</div>
    895. 

  895. <div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span>    <span class="keywordtype">float</span> m10311130 = m10 * m31 - m11 * m30;</div>
    896. 

  896. <div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span>    <span class="keywordtype">float</span> m10321230 = m10 * m32 - m12 * m30;</div>
    897. 

  897. <div class="line"><a id="l00704" name="l00704"></a><span class="lineno">  704</span>    <span class="keywordtype">float</span> m10331330 = m10 * m33 - m13 * m30;</div>
    898. 

  898. <div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>    <span class="keywordtype">float</span> m11221221 = m11 * m22 - m12 * m21;</div>
    899. 

  899. <div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>    <span class="keywordtype">float</span> m11231321 = m11 * m23 - m13 * m21;</div>
    900. 

  900. <div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span>    <span class="keywordtype">float</span> m11321231 = m11 * m32 - m12 * m31;</div>
    901. 

  901. <div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span>    <span class="keywordtype">float</span> m11331331 = m11 * m33 - m13 * m31;</div>
    902. 

  902. <div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>    <span class="keywordtype">float</span> m12231322 = m12 * m23 - m13 * m22;</div>
    903. 

  903. <div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>    <span class="keywordtype">float</span> m12331332 = m12 * m33 - m13 * m32;</div>
    904. 

  904. <div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span>    <span class="keywordtype">float</span> m20312130 = m20 * m31 - m21 * m30;</div>
    905. 

  905. <div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>    <span class="keywordtype">float</span> m20322230 = m20 * m32 - m22 * m30;</div>
    906. 

  906. <div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span>    <span class="keywordtype">float</span> m20332330 = m20 * m33 - m23 * m30;</div>
    907. 

  907. <div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span>    <span class="keywordtype">float</span> m21322231 = m21 * m32 - m22 * m31;</div>
    908. 

  908. <div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>    <span class="keywordtype">float</span> m21332331 = m21 * m33 - m23 * m31;</div>
    909. 

  909. <div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>    <span class="keywordtype">float</span> m22332332 = m22 * m33 - m23 * m32;</div>
    910. 

  910. <div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span> </div>
    911. 

  911. <div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> col0(m11 * m22332332 - m12 * m21332331 + m13 * m21322231,      -m10 * m22332332 + m12 * m20332330 - m13 * m20322230,       m10 * m21332331 - m11 * m20332330 + m13 * m20312130,        -m10 * m21322231 + m11 * m20322230 - m12 * m20312130);</div>
    912. 

  912. <div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> col1(-m01 * m22332332 + m02 * m21332331 - m03 * m21322231,     m00 * m22332332 - m02 * m20332330 + m03 * m20322230,        -m00 * m21332331 + m01 * m20332330 - m03 * m20312130,       m00 * m21322231 - m01 * m20322230 + m02 * m20312130);</div>
    913. 

  913. <div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> col2(m01 * m12331332 - m02 * m11331331 + m03 * m11321231,      -m00 * m12331332 + m02 * m10331330 - m03 * m10321230,       m00 * m11331331 - m01 * m10331330 + m03 * m10311130,        -m00 * m11321231 + m01 * m10321230 - m02 * m10311130);</div>
    914. 

  914. <div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> col3(-m01 * m12231322 + m02 * m11231321 - m03 * m11221221,     m00 * m12231322 - m02 * m10231320 + m03 * m10221220,        -m00 * m11231321 + m01 * m10231320 - m03 * m10211120,       m00 * m11221221 - m01 * m10221220 + m02 * m10211120);</div>
    915. 

  915. <div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span> </div>
    916. 

  916. <div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span>    <span class="keywordtype">float</span> det = m00 * col0.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + m01 * col0.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + m02 * col0.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2] + m03 * col0.<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[3];</div>
    917. 

  917. <div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span> </div>
    918. 

  918. <div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(col0 / det, col1 / det, col2 / det, col3 / det);</div>
    919. 

  919. <div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span><span class="preprocessor">#endif</span></div>
    920. 

  920. <div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span>}</div>
    921. 

  921. </div>
    922. 

  922. <div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span> </div>
    923. 

  923. <div class="foldopen" id="foldopen00729" data-start="{" data-end="}">
    924. 

  924. <div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="class_mat44.html#af962ad0ed20cb6112f8249cb9573c233">  729</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#af962ad0ed20cb6112f8249cb9573c233">Mat44::InversedRotationTranslation</a>()<span class="keyword"> const</span></div>
    925. 

  925. <div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span><span class="keyword"></span>{</div>
    926. 

  926. <div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>    <a class="code hl_class" href="class_mat44.html">Mat44</a> m = <a class="code hl_function" href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">Transposed3x3</a>();</div>
    927. 

  927. <div class="line"><a id="l00732" name="l00732"></a><span class="lineno">  732</span>    m.<a class="code hl_function" href="class_mat44.html#ae89e485f03d9a5dbaf317c057f4eac30">SetTranslation</a>(-m.<a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(<a class="code hl_function" href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">GetTranslation</a>()));</div>
    928. 

  928. <div class="line"><a id="l00733" name="l00733"></a><span class="lineno">  733</span>    <span class="keywordflow">return</span> m;</div>
    929. 

  929. <div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span>}</div>
    930. 

  930. </div>
    931. 

  931. <div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span> </div>
    932. 

  932. <div class="foldopen" id="foldopen00736" data-start="{" data-end="}">
    933. 

  933. <div class="line"><a id="l00736" name="l00736"></a><span class="lineno"><a class="line" href="class_mat44.html#a2b5ba5e6c68b059ae61a1bbc1b7fbb87">  736</a></span><span class="keywordtype">float</span> <a class="code hl_function" href="class_mat44.html#a2b5ba5e6c68b059ae61a1bbc1b7fbb87">Mat44::GetDeterminant3x3</a>()<span class="keyword"> const</span></div>
    934. 

  934. <div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span><span class="keyword"></span>{</div>
    935. 

  935. <div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#aa71942f9a684cf2e0e55f8c9ba8f5b99">GetAxisX</a>().<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(<a class="code hl_function" href="class_mat44.html#a03967bba6efbe4a03e6f1b888e1436a7">GetAxisY</a>().Cross(<a class="code hl_function" href="class_mat44.html#a19fc28cb3d425e8b4f462c939bc595fa">GetAxisZ</a>()));</div>
    936. 

  936. <div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>}</div>
    937. 

  937. </div>
    938. 

  938. <div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span> </div>
    939. 

  939. <div class="foldopen" id="foldopen00741" data-start="{" data-end="}">
    940. 

  940. <div class="line"><a id="l00741" name="l00741"></a><span class="lineno"><a class="line" href="class_mat44.html#a3b9c1e6d186b9ad59e81255c64049f22">  741</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a3b9c1e6d186b9ad59e81255c64049f22">Mat44::Adjointed3x3</a>()<span class="keyword"> const</span></div>
    941. 

  941. <div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span><span class="keyword"></span>{</div>
    942. 

  942. <div class="line"><a id="l00743" name="l00743"></a><span class="lineno">  743</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    943. 

  943. <div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), 0)</div>
    944. 

  944. <div class="line"><a id="l00745" name="l00745"></a><span class="lineno">  745</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), 0),</div>
    945. 

  945. <div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), 0)</div>
    946. 

  946. <div class="line"><a id="l00747" name="l00747"></a><span class="lineno">  747</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), 0),</div>
    947. 

  947. <div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), 0)</div>
    948. 

  948. <div class="line"><a id="l00749" name="l00749"></a><span class="lineno">  749</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), 0),</div>
    949. 

  949. <div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    950. 

  950. <div class="line"><a id="l00751" name="l00751"></a><span class="lineno">  751</span>}</div>
    951. 

  951. </div>
    952. 

  952. <div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span> </div>
    953. 

  953. <div class="foldopen" id="foldopen00753" data-start="{" data-end="}">
    954. 

  954. <div class="line"><a id="l00753" name="l00753"></a><span class="lineno"><a class="line" href="class_mat44.html#ad9f5df546296a7bdc816e6be5627926b">  753</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#ad9f5df546296a7bdc816e6be5627926b">Mat44::Inversed3x3</a>()<span class="keyword"> const</span></div>
    955. 

  955. <div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span><span class="keyword"></span>{</div>
    956. 

  956. <div class="line"><a id="l00755" name="l00755"></a><span class="lineno">  755</span>    <span class="keywordtype">float</span> det = <a class="code hl_function" href="class_mat44.html#a2b5ba5e6c68b059ae61a1bbc1b7fbb87">GetDeterminant3x3</a>();</div>
    957. 

  957. <div class="line"><a id="l00756" name="l00756"></a><span class="lineno">  756</span> </div>
    958. 

  958. <div class="line"><a id="l00757" name="l00757"></a><span class="lineno">  757</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    959. 

  959. <div class="line"><a id="l00758" name="l00758"></a><span class="lineno">  758</span>        (<a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), 0)</div>
    960. 

  960. <div class="line"><a id="l00759" name="l00759"></a><span class="lineno">  759</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), 0)) / det,</div>
    961. 

  961. <div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>        (<a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), 0)</div>
    962. 

  962. <div class="line"><a id="l00761" name="l00761"></a><span class="lineno">  761</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(2, 1), 0)) / det,</div>
    963. 

  963. <div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>        (<a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), 0)</div>
    964. 

  964. <div class="line"><a id="l00763" name="l00763"></a><span class="lineno">  763</span>            - <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 0), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(0, 1), 0) * <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 1), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 2), <a class="code hl_define" href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a>(1, 0), 0)) / det,</div>
    965. 

  965. <div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>        <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    966. 

  966. <div class="line"><a id="l00765" name="l00765"></a><span class="lineno">  765</span>}</div>
    967. 

  967. </div>
    968. 

  968. <div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span> </div>
    969. 

  969. <div class="foldopen" id="foldopen00767" data-start="{" data-end="}">
    970. 

  970. <div class="line"><a id="l00767" name="l00767"></a><span class="lineno"><a class="line" href="class_mat44.html#a814c04077820ea83f444ccc5ae48299f">  767</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_mat44.html#a814c04077820ea83f444ccc5ae48299f">Mat44::SetInversed3x3</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inM)</div>
    971. 

  971. <div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>{</div>
    972. 

  972. <div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>    <span class="keywordtype">float</span> det = inM.<a class="code hl_function" href="class_mat44.html#a2b5ba5e6c68b059ae61a1bbc1b7fbb87">GetDeterminant3x3</a>();</div>
    973. 

  973. <div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span> </div>
    974. 

  974. <div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>    <span class="comment">// If the determinant is zero the matrix is singular and we return false</span></div>
    975. 

  975. <div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>    <span class="keywordflow">if</span> (det == 0.0f)</div>
    976. 

  976. <div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    977. 

  977. <div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span> </div>
    978. 

  978. <div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span>    <span class="comment">// Finish calculating the inverse</span></div>
    979. 

  979. <div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span>    *<span class="keyword">this</span> = inM.<a class="code hl_function" href="class_mat44.html#a3b9c1e6d186b9ad59e81255c64049f22">Adjointed3x3</a>();</div>
    980. 

  980. <div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>    mCol[0] /= det;</div>
    981. 

  981. <div class="line"><a id="l00778" name="l00778"></a><span class="lineno">  778</span>    mCol[1] /= det;</div>
    982. 

  982. <div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span>    mCol[2] /= det;</div>
    983. 

  983. <div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    984. 

  984. <div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span>}</div>
    985. 

  985. </div>
    986. 

  986. <div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span> </div>
    987. 

  987. <div class="foldopen" id="foldopen00783" data-start="{" data-end="}">
    988. 

  988. <div class="line"><a id="l00783" name="l00783"></a><span class="lineno"><a class="line" href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">  783</a></span><a class="code hl_class" href="class_quat.html">Quat</a> <a class="code hl_function" href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">Mat44::GetQuaternion</a>()<span class="keyword"> const</span></div>
    989. 

  989. <div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span><span class="keyword"></span>{</div>
    990. 

  990. <div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span>    <span class="keywordtype">float</span> tr = mCol[0].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[0] + mCol[1].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[1] + mCol[2].<a class="code hl_variable" href="class_vec4.html#a11992deca442bea5ba8c474274f17086">mF32</a>[2];</div>
    991. 

  991. <div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span> </div>
    992. 

  992. <div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span>    <span class="keywordflow">if</span> (tr &gt;= 0.0f)</div>
    993. 

  993. <div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span>    {</div>
    994. 

  994. <div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span>        <span class="keywordtype">float</span> s = sqrt(tr + 1.0f);</div>
    995. 

  995. <div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span>        <span class="keywordtype">float</span> is = 0.5f / s;</div>
    996. 

  996. <div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span>        <span class="keywordflow">return</span> <a class="code hl_class" href="class_quat.html">Quat</a>(</div>
    997. 

  997. <div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span>            (mCol[1].mF32[2] - mCol[2].mF32[1]) * is,</div>
    998. 

  998. <div class="line"><a id="l00793" name="l00793"></a><span class="lineno">  793</span>            (mCol[2].mF32[0] - mCol[0].mF32[2]) * is,</div>
    999. 

  999. <div class="line"><a id="l00794" name="l00794"></a><span class="lineno">  794</span>            (mCol[0].mF32[1] - mCol[1].mF32[0]) * is,</div>
    1000. 

  1000. <div class="line"><a id="l00795" name="l00795"></a><span class="lineno">  795</span>            0.5f * s);</div>
    1001. 

  1001. <div class="line"><a id="l00796" name="l00796"></a><span class="lineno">  796</span>    }</div>
    1002. 

  1002. <div class="line"><a id="l00797" name="l00797"></a><span class="lineno">  797</span>    <span class="keywordflow">else</span></div>
    1003. 

  1003. <div class="line"><a id="l00798" name="l00798"></a><span class="lineno">  798</span>    {</div>
    1004. 

  1004. <div class="line"><a id="l00799" name="l00799"></a><span class="lineno">  799</span>        <span class="keywordtype">int</span> i = 0;</div>
    1005. 

  1005. <div class="line"><a id="l00800" name="l00800"></a><span class="lineno">  800</span>        <span class="keywordflow">if</span> (mCol[1].mF32[1] &gt; mCol[0].mF32[0]) i = 1;</div>
    1006. 

  1006. <div class="line"><a id="l00801" name="l00801"></a><span class="lineno">  801</span>        <span class="keywordflow">if</span> (mCol[2].mF32[2] &gt; mCol[i].mF32[i]) i = 2;</div>
    1007. 

  1007. <div class="line"><a id="l00802" name="l00802"></a><span class="lineno">  802</span> </div>
    1008. 

  1008. <div class="line"><a id="l00803" name="l00803"></a><span class="lineno">  803</span>        <span class="keywordflow">if</span> (i == 0)</div>
    1009. 

  1009. <div class="line"><a id="l00804" name="l00804"></a><span class="lineno">  804</span>        {</div>
    1010. 

  1010. <div class="line"><a id="l00805" name="l00805"></a><span class="lineno">  805</span>            <span class="keywordtype">float</span> s = sqrt(mCol[0].mF32[0] - (mCol[1].mF32[1] + mCol[2].mF32[2]) + 1);</div>
    1011. 

  1011. <div class="line"><a id="l00806" name="l00806"></a><span class="lineno">  806</span>            <span class="keywordtype">float</span> is = 0.5f / s;</div>
    1012. 

  1012. <div class="line"><a id="l00807" name="l00807"></a><span class="lineno">  807</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="class_quat.html">Quat</a>(</div>
    1013. 

  1013. <div class="line"><a id="l00808" name="l00808"></a><span class="lineno">  808</span>                0.5f * s,</div>
    1014. 

  1014. <div class="line"><a id="l00809" name="l00809"></a><span class="lineno">  809</span>                (mCol[1].mF32[0] + mCol[0].mF32[1]) * is,</div>
    1015. 

  1015. <div class="line"><a id="l00810" name="l00810"></a><span class="lineno">  810</span>                (mCol[0].mF32[2] + mCol[2].mF32[0]) * is,</div>
    1016. 

  1016. <div class="line"><a id="l00811" name="l00811"></a><span class="lineno">  811</span>                (mCol[1].mF32[2] - mCol[2].mF32[1]) * is);</div>
    1017. 

  1017. <div class="line"><a id="l00812" name="l00812"></a><span class="lineno">  812</span>        }</div>
    1018. 

  1018. <div class="line"><a id="l00813" name="l00813"></a><span class="lineno">  813</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 1)</div>
    1019. 

  1019. <div class="line"><a id="l00814" name="l00814"></a><span class="lineno">  814</span>        {</div>
    1020. 

  1020. <div class="line"><a id="l00815" name="l00815"></a><span class="lineno">  815</span>            <span class="keywordtype">float</span> s = sqrt(mCol[1].mF32[1] - (mCol[2].mF32[2] + mCol[0].mF32[0]) + 1);</div>
    1021. 

  1021. <div class="line"><a id="l00816" name="l00816"></a><span class="lineno">  816</span>            <span class="keywordtype">float</span> is = 0.5f / s;</div>
    1022. 

  1022. <div class="line"><a id="l00817" name="l00817"></a><span class="lineno">  817</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="class_quat.html">Quat</a>(</div>
    1023. 

  1023. <div class="line"><a id="l00818" name="l00818"></a><span class="lineno">  818</span>                (mCol[1].mF32[0] + mCol[0].mF32[1]) * is,</div>
    1024. 

  1024. <div class="line"><a id="l00819" name="l00819"></a><span class="lineno">  819</span>                0.5f * s,</div>
    1025. 

  1025. <div class="line"><a id="l00820" name="l00820"></a><span class="lineno">  820</span>                (mCol[2].mF32[1] + mCol[1].mF32[2]) * is,</div>
    1026. 

  1026. <div class="line"><a id="l00821" name="l00821"></a><span class="lineno">  821</span>                (mCol[2].mF32[0] - mCol[0].mF32[2]) * is);</div>
    1027. 

  1027. <div class="line"><a id="l00822" name="l00822"></a><span class="lineno">  822</span>        }</div>
    1028. 

  1028. <div class="line"><a id="l00823" name="l00823"></a><span class="lineno">  823</span>        <span class="keywordflow">else</span></div>
    1029. 

  1029. <div class="line"><a id="l00824" name="l00824"></a><span class="lineno">  824</span>        {</div>
    1030. 

  1030. <div class="line"><a id="l00825" name="l00825"></a><span class="lineno">  825</span>            <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(i == 2);</div>
    1031. 

  1031. <div class="line"><a id="l00826" name="l00826"></a><span class="lineno">  826</span> </div>
    1032. 

  1032. <div class="line"><a id="l00827" name="l00827"></a><span class="lineno">  827</span>            <span class="keywordtype">float</span> s = sqrt(mCol[2].mF32[2] - (mCol[0].mF32[0] + mCol[1].mF32[1]) + 1);</div>
    1033. 

  1033. <div class="line"><a id="l00828" name="l00828"></a><span class="lineno">  828</span>            <span class="keywordtype">float</span> is = 0.5f / s;</div>
    1034. 

  1034. <div class="line"><a id="l00829" name="l00829"></a><span class="lineno">  829</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="class_quat.html">Quat</a>(</div>
    1035. 

  1035. <div class="line"><a id="l00830" name="l00830"></a><span class="lineno">  830</span>                (mCol[0].mF32[2] + mCol[2].mF32[0]) * is,</div>
    1036. 

  1036. <div class="line"><a id="l00831" name="l00831"></a><span class="lineno">  831</span>                (mCol[2].mF32[1] + mCol[1].mF32[2]) * is,</div>
    1037. 

  1037. <div class="line"><a id="l00832" name="l00832"></a><span class="lineno">  832</span>                0.5f * s,</div>
    1038. 

  1038. <div class="line"><a id="l00833" name="l00833"></a><span class="lineno">  833</span>                (mCol[0].mF32[1] - mCol[1].mF32[0]) * is);</div>
    1039. 

  1039. <div class="line"><a id="l00834" name="l00834"></a><span class="lineno">  834</span>        }</div>
    1040. 

  1040. <div class="line"><a id="l00835" name="l00835"></a><span class="lineno">  835</span>    }</div>
    1041. 

  1041. <div class="line"><a id="l00836" name="l00836"></a><span class="lineno">  836</span>}</div>
    1042. 

  1042. </div>
    1043. 

  1043. <div class="line"><a id="l00837" name="l00837"></a><span class="lineno">  837</span> </div>
    1044. 

  1044. <div class="foldopen" id="foldopen00838" data-start="{" data-end="}">
    1045. 

  1045. <div class="line"><a id="l00838" name="l00838"></a><span class="lineno"><a class="line" href="class_mat44.html#adca3adc84118200afa5f4203164d241f">  838</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#adca3adc84118200afa5f4203164d241f">Mat44::sQuatLeftMultiply</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inQ)</div>
    1046. 

  1046. <div class="line"><a id="l00839" name="l00839"></a><span class="lineno">  839</span>{</div>
    1047. 

  1047. <div class="line"><a id="l00840" name="l00840"></a><span class="lineno">  840</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    1048. 

  1048. <div class="line"><a id="l00841" name="l00841"></a><span class="lineno">  841</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, 1, -1, -1&gt;(),</div>
    1049. 

  1049. <div class="line"><a id="l00842" name="l00842"></a><span class="lineno">  842</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;-1, 1, 1, -1&gt;(),</div>
    1050. 

  1050. <div class="line"><a id="l00843" name="l00843"></a><span class="lineno">  843</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, -1, 1, -1&gt;(),</div>
    1051. 

  1051. <div class="line"><a id="l00844" name="l00844"></a><span class="lineno">  844</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>);</div>
    1052. 

  1052. <div class="line"><a id="l00845" name="l00845"></a><span class="lineno">  845</span>}</div>
    1053. 

  1053. </div>
    1054. 

  1054. <div class="line"><a id="l00846" name="l00846"></a><span class="lineno">  846</span> </div>
    1055. 

  1055. <div class="foldopen" id="foldopen00847" data-start="{" data-end="}">
    1056. 

  1056. <div class="line"><a id="l00847" name="l00847"></a><span class="lineno"><a class="line" href="class_mat44.html#a2b688da0262b9096bfac9ddfa2c27e52">  847</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a2b688da0262b9096bfac9ddfa2c27e52">Mat44::sQuatRightMultiply</a>(<a class="code hl_class" href="class_quat.html">QuatArg</a> inQ)</div>
    1057. 

  1057. <div class="line"><a id="l00848" name="l00848"></a><span class="lineno">  848</span>{</div>
    1058. 

  1058. <div class="line"><a id="l00849" name="l00849"></a><span class="lineno">  849</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(</div>
    1059. 

  1059. <div class="line"><a id="l00850" name="l00850"></a><span class="lineno">  850</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, -1, 1, -1&gt;(),</div>
    1060. 

  1060. <div class="line"><a id="l00851" name="l00851"></a><span class="lineno">  851</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;1, 1, -1, -1&gt;(),</div>
    1061. 

  1061. <div class="line"><a id="l00852" name="l00852"></a><span class="lineno">  852</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>.<a class="code hl_function" href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Swizzle</a>&lt;<a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a>, <a class="code hl_enumvalue" href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a>&gt;().<a class="code hl_function" href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">FlipSign</a>&lt;-1, 1, 1, -1&gt;(),</div>
    1062. 

  1062. <div class="line"><a id="l00853" name="l00853"></a><span class="lineno">  853</span>        inQ.<a class="code hl_variable" href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">mValue</a>);</div>
    1063. 

  1063. <div class="line"><a id="l00854" name="l00854"></a><span class="lineno">  854</span>}</div>
    1064. 

  1064. </div>
    1065. 

  1065. <div class="line"><a id="l00855" name="l00855"></a><span class="lineno">  855</span> </div>
    1066. 

  1066. <div class="foldopen" id="foldopen00856" data-start="{" data-end="}">
    1067. 

  1067. <div class="line"><a id="l00856" name="l00856"></a><span class="lineno"><a class="line" href="class_mat44.html#a4cc37dcc7b9be4ab8f8e94bf49e06204">  856</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a4cc37dcc7b9be4ab8f8e94bf49e06204">Mat44::GetRotation</a>()<span class="keyword"> const</span></div>
    1068. 

  1068. <div class="line"><a id="l00857" name="l00857"></a><span class="lineno">  857</span><span class="keyword"></span>{</div>
    1069. 

  1069. <div class="line"><a id="l00858" name="l00858"></a><span class="lineno">  858</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[0][3] == 0.0f);</div>
    1070. 

  1070. <div class="line"><a id="l00859" name="l00859"></a><span class="lineno">  859</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[1][3] == 0.0f);</div>
    1071. 

  1071. <div class="line"><a id="l00860" name="l00860"></a><span class="lineno">  860</span>    <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(mCol[2][3] == 0.0f);</div>
    1072. 

  1072. <div class="line"><a id="l00861" name="l00861"></a><span class="lineno">  861</span> </div>
    1073. 

  1073. <div class="line"><a id="l00862" name="l00862"></a><span class="lineno">  862</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(mCol[0], mCol[1], mCol[2], <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    1074. 

  1074. <div class="line"><a id="l00863" name="l00863"></a><span class="lineno">  863</span>}</div>
    1075. 

  1075. </div>
    1076. 

  1076. <div class="line"><a id="l00864" name="l00864"></a><span class="lineno">  864</span> </div>
    1077. 

  1077. <div class="foldopen" id="foldopen00865" data-start="{" data-end="}">
    1078. 

  1078. <div class="line"><a id="l00865" name="l00865"></a><span class="lineno"><a class="line" href="class_mat44.html#a564ee35616cca9a01624760e58bfb9ca">  865</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a564ee35616cca9a01624760e58bfb9ca">Mat44::GetRotationSafe</a>()<span class="keyword"> const</span></div>
    1079. 

  1079. <div class="line"><a id="l00866" name="l00866"></a><span class="lineno">  866</span><span class="keyword"></span>{</div>
    1080. 

  1080. <div class="line"><a id="l00867" name="l00867"></a><span class="lineno">  867</span><span class="preprocessor">#if defined(JPH_USE_AVX512)</span></div>
    1081. 

  1081. <div class="line"><a id="l00868" name="l00868"></a><span class="lineno">  868</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(_mm_maskz_mov_ps(0b0111, mCol[0].mValue),</div>
    1082. 

  1082. <div class="line"><a id="l00869" name="l00869"></a><span class="lineno">  869</span>                 _mm_maskz_mov_ps(0b0111, mCol[1].mValue),</div>
    1083. 

  1083. <div class="line"><a id="l00870" name="l00870"></a><span class="lineno">  870</span>                 _mm_maskz_mov_ps(0b0111, mCol[2].mValue),</div>
    1084. 

  1084. <div class="line"><a id="l00871" name="l00871"></a><span class="lineno">  871</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    1085. 

  1085. <div class="line"><a id="l00872" name="l00872"></a><span class="lineno">  872</span><span class="preprocessor">#elif defined(JPH_USE_SSE4_1)</span></div>
    1086. 

  1086. <div class="line"><a id="l00873" name="l00873"></a><span class="lineno">  873</span>    __m128 zero = _mm_setzero_ps();</div>
    1087. 

  1087. <div class="line"><a id="l00874" name="l00874"></a><span class="lineno">  874</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(_mm_blend_ps(mCol[0].mValue, zero, 8),</div>
    1088. 

  1088. <div class="line"><a id="l00875" name="l00875"></a><span class="lineno">  875</span>                 _mm_blend_ps(mCol[1].mValue, zero, 8),</div>
    1089. 

  1089. <div class="line"><a id="l00876" name="l00876"></a><span class="lineno">  876</span>                 _mm_blend_ps(mCol[2].mValue, zero, 8),</div>
    1090. 

  1090. <div class="line"><a id="l00877" name="l00877"></a><span class="lineno">  877</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    1091. 

  1091. <div class="line"><a id="l00878" name="l00878"></a><span class="lineno">  878</span><span class="preprocessor">#elif defined(JPH_USE_NEON)</span></div>
    1092. 

  1092. <div class="line"><a id="l00879" name="l00879"></a><span class="lineno">  879</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(vsetq_lane_f32(0, mCol[0].mValue, 3),</div>
    1093. 

  1093. <div class="line"><a id="l00880" name="l00880"></a><span class="lineno">  880</span>                 vsetq_lane_f32(0, mCol[1].mValue, 3),</div>
    1094. 

  1094. <div class="line"><a id="l00881" name="l00881"></a><span class="lineno">  881</span>                 vsetq_lane_f32(0, mCol[2].mValue, 3),</div>
    1095. 

  1095. <div class="line"><a id="l00882" name="l00882"></a><span class="lineno">  882</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    1096. 

  1096. <div class="line"><a id="l00883" name="l00883"></a><span class="lineno">  883</span><span class="preprocessor">#else</span></div>
    1097. 

  1097. <div class="line"><a id="l00884" name="l00884"></a><span class="lineno">  884</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(mCol[0].mF32[0], mCol[0].mF32[1], mCol[0].mF32[2], 0),</div>
    1098. 

  1098. <div class="line"><a id="l00885" name="l00885"></a><span class="lineno">  885</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(mCol[1].mF32[0], mCol[1].mF32[1], mCol[1].mF32[2], 0),</div>
    1099. 

  1099. <div class="line"><a id="l00886" name="l00886"></a><span class="lineno">  886</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(mCol[2].mF32[0], mCol[2].mF32[1], mCol[2].mF32[2], 0),</div>
    1100. 

  1100. <div class="line"><a id="l00887" name="l00887"></a><span class="lineno">  887</span>                 <a class="code hl_class" href="class_vec4.html">Vec4</a>(0, 0, 0, 1));</div>
    1101. 

  1101. <div class="line"><a id="l00888" name="l00888"></a><span class="lineno">  888</span><span class="preprocessor">#endif</span></div>
    1102. 

  1102. <div class="line"><a id="l00889" name="l00889"></a><span class="lineno">  889</span>}</div>
    1103. 

  1103. </div>
    1104. 

  1104. <div class="line"><a id="l00890" name="l00890"></a><span class="lineno">  890</span> </div>
    1105. 

  1105. <div class="foldopen" id="foldopen00891" data-start="{" data-end="}">
    1106. 

  1106. <div class="line"><a id="l00891" name="l00891"></a><span class="lineno"><a class="line" href="class_mat44.html#abd5dc78238403195cbd0cde87f40af49">  891</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_mat44.html#abd5dc78238403195cbd0cde87f40af49">Mat44::SetRotation</a>(<a class="code hl_class" href="class_mat44.html">Mat44Arg</a> inRotation)</div>
    1107. 

  1107. <div class="line"><a id="l00892" name="l00892"></a><span class="lineno">  892</span>{</div>
    1108. 

  1108. <div class="line"><a id="l00893" name="l00893"></a><span class="lineno">  893</span>    mCol[0] = inRotation.mCol[0];</div>
    1109. 

  1109. <div class="line"><a id="l00894" name="l00894"></a><span class="lineno">  894</span>    mCol[1] = inRotation.mCol[1];</div>
    1110. 

  1110. <div class="line"><a id="l00895" name="l00895"></a><span class="lineno">  895</span>    mCol[2] = inRotation.mCol[2];</div>
    1111. 

  1111. <div class="line"><a id="l00896" name="l00896"></a><span class="lineno">  896</span>}</div>
    1112. 

  1112. </div>
    1113. 

  1113. <div class="line"><a id="l00897" name="l00897"></a><span class="lineno">  897</span> </div>
    1114. 

  1114. <div class="foldopen" id="foldopen00898" data-start="{" data-end="}">
    1115. 

  1115. <div class="line"><a id="l00898" name="l00898"></a><span class="lineno"><a class="line" href="class_mat44.html#a16f19b423139db52503bb8d6526d947f">  898</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a16f19b423139db52503bb8d6526d947f">Mat44::PreTranslated</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inTranslation)<span class="keyword"> const</span></div>
    1116. 

  1116. <div class="line"><a id="l00899" name="l00899"></a><span class="lineno">  899</span><span class="keyword"></span>{</div>
    1117. 

  1117. <div class="line"><a id="l00900" name="l00900"></a><span class="lineno">  900</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(mCol[0], mCol[1], mCol[2], <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_function" href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">GetTranslation</a>() + <a class="code hl_function" href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Multiply3x3</a>(inTranslation), 1));</div>
    1118. 

  1118. <div class="line"><a id="l00901" name="l00901"></a><span class="lineno">  901</span>}</div>
    1119. 

  1119. </div>
    1120. 

  1120. <div class="line"><a id="l00902" name="l00902"></a><span class="lineno">  902</span> </div>
    1121. 

  1121. <div class="foldopen" id="foldopen00903" data-start="{" data-end="}">
    1122. 

  1122. <div class="line"><a id="l00903" name="l00903"></a><span class="lineno"><a class="line" href="class_mat44.html#a16b90363d2e120bd570c4200e29f5ba6">  903</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a16b90363d2e120bd570c4200e29f5ba6">Mat44::PostTranslated</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inTranslation)<span class="keyword"> const</span></div>
    1123. 

  1123. <div class="line"><a id="l00904" name="l00904"></a><span class="lineno">  904</span><span class="keyword"></span>{</div>
    1124. 

  1124. <div class="line"><a id="l00905" name="l00905"></a><span class="lineno">  905</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(mCol[0], mCol[1], mCol[2], <a class="code hl_class" href="class_vec4.html">Vec4</a>(<a class="code hl_function" href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">GetTranslation</a>() + inTranslation, 1));</div>
    1125. 

  1125. <div class="line"><a id="l00906" name="l00906"></a><span class="lineno">  906</span>}</div>
    1126. 

  1126. </div>
    1127. 

  1127. <div class="line"><a id="l00907" name="l00907"></a><span class="lineno">  907</span> </div>
    1128. 

  1128. <div class="foldopen" id="foldopen00908" data-start="{" data-end="}">
    1129. 

  1129. <div class="line"><a id="l00908" name="l00908"></a><span class="lineno"><a class="line" href="class_mat44.html#af9c9948eced621a54424f05c397824dd">  908</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#af9c9948eced621a54424f05c397824dd">Mat44::PreScaled</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)<span class="keyword"> const</span></div>
    1130. 

  1130. <div class="line"><a id="l00909" name="l00909"></a><span class="lineno">  909</span><span class="keyword"></span>{</div>
    1131. 

  1131. <div class="line"><a id="l00910" name="l00910"></a><span class="lineno">  910</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(inScale.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>() * mCol[0], inScale.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>() * mCol[1], inScale.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>() * mCol[2], mCol[3]);</div>
    1132. 

  1132. <div class="line"><a id="l00911" name="l00911"></a><span class="lineno">  911</span>}</div>
    1133. 

  1133. </div>
    1134. 

  1134. <div class="line"><a id="l00912" name="l00912"></a><span class="lineno">  912</span> </div>
    1135. 

  1135. <div class="foldopen" id="foldopen00913" data-start="{" data-end="}">
    1136. 

  1136. <div class="line"><a id="l00913" name="l00913"></a><span class="lineno"><a class="line" href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">  913</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">Mat44::PostScaled</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inScale)<span class="keyword"> const</span></div>
    1137. 

  1137. <div class="line"><a id="l00914" name="l00914"></a><span class="lineno">  914</span><span class="keyword"></span>{</div>
    1138. 

  1138. <div class="line"><a id="l00915" name="l00915"></a><span class="lineno">  915</span>    <a class="code hl_class" href="class_vec4.html">Vec4</a> scale(inScale, 1);</div>
    1139. 

  1139. <div class="line"><a id="l00916" name="l00916"></a><span class="lineno">  916</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(scale * mCol[0], scale * mCol[1], scale * mCol[2], scale * mCol[3]);</div>
    1140. 

  1140. <div class="line"><a id="l00917" name="l00917"></a><span class="lineno">  917</span>}</div>
    1141. 

  1141. </div>
    1142. 

  1142. <div class="line"><a id="l00918" name="l00918"></a><span class="lineno">  918</span> </div>
    1143. 

  1143. <div class="foldopen" id="foldopen00919" data-start="{" data-end="}">
    1144. 

  1144. <div class="line"><a id="l00919" name="l00919"></a><span class="lineno"><a class="line" href="class_mat44.html#aa11f571efdce00289f87a65317fbdd58">  919</a></span><a class="code hl_class" href="class_mat44.html">Mat44</a> <a class="code hl_function" href="class_mat44.html#aa11f571efdce00289f87a65317fbdd58">Mat44::Decompose</a>(<a class="code hl_class" href="class_vec3.html">Vec3</a> &amp;outScale)<span class="keyword"> const</span></div>
    1145. 

  1145. <div class="line"><a id="l00920" name="l00920"></a><span class="lineno">  920</span><span class="keyword"></span>{</div>
    1146. 

  1146. <div class="line"><a id="l00921" name="l00921"></a><span class="lineno">  921</span>    <span class="comment">// Start the modified Gram-Schmidt algorithm</span></div>
    1147. 

  1147. <div class="line"><a id="l00922" name="l00922"></a><span class="lineno">  922</span>    <span class="comment">// X axis will just be normalized</span></div>
    1148. 

  1148. <div class="line"><a id="l00923" name="l00923"></a><span class="lineno">  923</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> x = <a class="code hl_function" href="class_mat44.html#aa71942f9a684cf2e0e55f8c9ba8f5b99">GetAxisX</a>();</div>
    1149. 

  1149. <div class="line"><a id="l00924" name="l00924"></a><span class="lineno">  924</span> </div>
    1150. 

  1150. <div class="line"><a id="l00925" name="l00925"></a><span class="lineno">  925</span>    <span class="comment">// Make Y axis perpendicular to X</span></div>
    1151. 

  1151. <div class="line"><a id="l00926" name="l00926"></a><span class="lineno">  926</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> y = <a class="code hl_function" href="class_mat44.html#a03967bba6efbe4a03e6f1b888e1436a7">GetAxisY</a>();</div>
    1152. 

  1152. <div class="line"><a id="l00927" name="l00927"></a><span class="lineno">  927</span>    <span class="keywordtype">float</span> x_dot_x = x.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    1153. 

  1153. <div class="line"><a id="l00928" name="l00928"></a><span class="lineno">  928</span>    y -= (x.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(y) / x_dot_x) * x;</div>
    1154. 

  1154. <div class="line"><a id="l00929" name="l00929"></a><span class="lineno">  929</span> </div>
    1155. 

  1155. <div class="line"><a id="l00930" name="l00930"></a><span class="lineno">  930</span>    <span class="comment">// Make Z axis perpendicular to X</span></div>
    1156. 

  1156. <div class="line"><a id="l00931" name="l00931"></a><span class="lineno">  931</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> z = <a class="code hl_function" href="class_mat44.html#a19fc28cb3d425e8b4f462c939bc595fa">GetAxisZ</a>();</div>
    1157. 

  1157. <div class="line"><a id="l00932" name="l00932"></a><span class="lineno">  932</span>    z -= (x.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(z) / x_dot_x) * x;</div>
    1158. 

  1158. <div class="line"><a id="l00933" name="l00933"></a><span class="lineno">  933</span> </div>
    1159. 

  1159. <div class="line"><a id="l00934" name="l00934"></a><span class="lineno">  934</span>    <span class="comment">// Make Z axis perpendicular to Y</span></div>
    1160. 

  1160. <div class="line"><a id="l00935" name="l00935"></a><span class="lineno">  935</span>    <span class="keywordtype">float</span> y_dot_y = y.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    1161. 

  1161. <div class="line"><a id="l00936" name="l00936"></a><span class="lineno">  936</span>    z -= (y.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(z) / y_dot_y) * y;</div>
    1162. 

  1162. <div class="line"><a id="l00937" name="l00937"></a><span class="lineno">  937</span> </div>
    1163. 

  1163. <div class="line"><a id="l00938" name="l00938"></a><span class="lineno">  938</span>    <span class="comment">// Determine the scale</span></div>
    1164. 

  1164. <div class="line"><a id="l00939" name="l00939"></a><span class="lineno">  939</span>    <span class="keywordtype">float</span> z_dot_z = z.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
    1165. 

  1165. <div class="line"><a id="l00940" name="l00940"></a><span class="lineno">  940</span>    outScale = <a class="code hl_class" href="class_vec3.html">Vec3</a>(x_dot_x, y_dot_y, z_dot_z).<a class="code hl_function" href="class_vec3.html#ae3693c78a72d92e9ab821025f8ed28cf">Sqrt</a>();</div>
    1166. 

  1166. <div class="line"><a id="l00941" name="l00941"></a><span class="lineno">  941</span> </div>
    1167. 

  1167. <div class="line"><a id="l00942" name="l00942"></a><span class="lineno">  942</span>    <span class="comment">// If the resulting x, y and z vectors don&#39;t form a right handed matrix, flip the z axis.</span></div>
    1168. 

  1168. <div class="line"><a id="l00943" name="l00943"></a><span class="lineno">  943</span>    <span class="keywordflow">if</span> (x.<a class="code hl_function" href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Cross</a>(y).<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(z) &lt; 0.0f)</div>
    1169. 

  1169. <div class="line"><a id="l00944" name="l00944"></a><span class="lineno">  944</span>        outScale.<a class="code hl_function" href="class_vec3.html#a91b9fad968034550f4681c14273c77d8">SetZ</a>(-outScale.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>());</div>
    1170. 

  1170. <div class="line"><a id="l00945" name="l00945"></a><span class="lineno">  945</span> </div>
    1171. 

  1171. <div class="line"><a id="l00946" name="l00946"></a><span class="lineno">  946</span>    <span class="comment">// Determine the rotation and translation</span></div>
    1172. 

  1172. <div class="line"><a id="l00947" name="l00947"></a><span class="lineno">  947</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44</a>(<a class="code hl_class" href="class_vec4.html">Vec4</a>(x / outScale.<a class="code hl_function" href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">GetX</a>(), 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(y / outScale.<a class="code hl_function" href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">GetY</a>(), 0), <a class="code hl_class" href="class_vec4.html">Vec4</a>(z / outScale.<a class="code hl_function" href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">GetZ</a>(), 0), <a class="code hl_function" href="class_mat44.html#a97c469ed78611039f85415381a67f312">GetColumn4</a>(3));</div>
    1173. 

  1173. <div class="line"><a id="l00948" name="l00948"></a><span class="lineno">  948</span>}</div>
    1174. 

  1174. </div>
    1175. 

  1175. <div class="line"><a id="l00949" name="l00949"></a><span class="lineno">  949</span> </div>
    1176. 

  1176. <div class="line"><a id="l00950" name="l00950"></a><span class="lineno">  950</span><span class="preprocessor">#undef JPH_EL</span></div>
    1177. 

  1177. <div class="line"><a id="l00951" name="l00951"></a><span class="lineno">  951</span> </div>
    1178. 

  1178. <div class="line"><a id="l00952" name="l00952"></a><span class="lineno">  952</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    1179. 

  1179. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    1180. 

  1180. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    1181. 

  1181. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    1182. 

  1182. <div class="ttc" id="a_mat44_8inl_html_a7d2c3dded3b7d624fb4cde097f294fa7"><div class="ttname"><a href="_mat44_8inl.html#a7d2c3dded3b7d624fb4cde097f294fa7">JPH_EL</a></div><div class="ttdeci">#define JPH_EL(r, c)</div><div class="ttdef"><b>Definition</b> Mat44.inl:13</div></div>
    1183. 

  1183. <div class="ttc" id="a_quat_8h_html"><div class="ttname"><a href="_quat_8h.html">Quat.h</a></div></div>
    1184. 

  1184. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da193cb4a0d68ee0b032d86ae28008aa63">SWIZZLE_Z</a></div><div class="ttdeci">@ SWIZZLE_Z</div><div class="ttdoc">Use the Z component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:14</div></div>
    1185. 

  1185. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035da820def45b2f7468e331d0abe1880dd6a">SWIZZLE_W</a></div><div class="ttdeci">@ SWIZZLE_W</div><div class="ttdoc">Use the W component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:15</div></div>
    1186. 

  1186. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035daa27e48fb4ae47daab960f563f660dfea">SWIZZLE_X</a></div><div class="ttdeci">@ SWIZZLE_X</div><div class="ttdoc">Use the X component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:12</div></div>
    1187. 

  1187. <div class="ttc" id="a_swizzle_8h_html_abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08"><div class="ttname"><a href="_swizzle_8h.html#abc5c98fcc1211af2b80116dd6e0a035dafd291953004304db41e7893449a2ff08">SWIZZLE_Y</a></div><div class="ttdeci">@ SWIZZLE_Y</div><div class="ttdoc">Use the Y component.</div><div class="ttdef"><b>Definition</b> Swizzle.h:13</div></div>
    1188. 

  1188. <div class="ttc" id="a_trigonometry_8h_html_a138c843d7c7c5f89c1757b159a86eb00"><div class="ttname"><a href="_trigonometry_8h.html#a138c843d7c7c5f89c1757b159a86eb00">Tan</a></div><div class="ttdeci">JPH_INLINE float Tan(float inX)</div><div class="ttdoc">Tangent of x (input in radians)</div><div class="ttdef"><b>Definition</b> Trigonometry.h:28</div></div>
    1189. 

  1189. <div class="ttc" id="a_vec3_8h_html"><div class="ttname"><a href="_vec3_8h.html">Vec3.h</a></div></div>
    1190. 

  1190. <div class="ttc" id="a_vec4_8h_html"><div class="ttname"><a href="_vec4_8h.html">Vec4.h</a></div></div>
    1191. 

  1191. <div class="ttc" id="aclass_float4_html"><div class="ttname"><a href="class_float4.html">Float4</a></div><div class="ttdoc">Class that holds 4 float values. Convert to Vec4 to perform calculations.</div><div class="ttdef"><b>Definition</b> Float4.h:11</div></div>
    1192. 

  1192. <div class="ttc" id="aclass_mat44_html"><div class="ttname"><a href="class_mat44.html">Mat44</a></div><div class="ttdoc">Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.h:13</div></div>
    1193. 

  1193. <div class="ttc" id="aclass_mat44_html_a03967bba6efbe4a03e6f1b888e1436a7"><div class="ttname"><a href="class_mat44.html#a03967bba6efbe4a03e6f1b888e1436a7">Mat44::GetAxisY</a></div><div class="ttdeci">JPH_INLINE Vec3 GetAxisY() const</div><div class="ttdef"><b>Definition</b> Mat44.h:148</div></div>
    1194. 

  1194. <div class="ttc" id="aclass_mat44_html_a16b90363d2e120bd570c4200e29f5ba6"><div class="ttname"><a href="class_mat44.html#a16b90363d2e120bd570c4200e29f5ba6">Mat44::PostTranslated</a></div><div class="ttdeci">JPH_INLINE Mat44 PostTranslated(Vec3Arg inTranslation) const</div><div class="ttdoc">Post multiply by translation matrix: result = Mat44::sTranslation(inTranslation) * this (i....</div><div class="ttdef"><b>Definition</b> Mat44.inl:903</div></div>
    1195. 

  1195. <div class="ttc" id="aclass_mat44_html_a16f19b423139db52503bb8d6526d947f"><div class="ttname"><a href="class_mat44.html#a16f19b423139db52503bb8d6526d947f">Mat44::PreTranslated</a></div><div class="ttdeci">JPH_INLINE Mat44 PreTranslated(Vec3Arg inTranslation) const</div><div class="ttdoc">Pre multiply by translation matrix: result = this * Mat44::sTranslation(inTranslation)</div><div class="ttdef"><b>Definition</b> Mat44.inl:898</div></div>
    1196. 

  1196. <div class="ttc" id="aclass_mat44_html_a19fc28cb3d425e8b4f462c939bc595fa"><div class="ttname"><a href="class_mat44.html#a19fc28cb3d425e8b4f462c939bc595fa">Mat44::GetAxisZ</a></div><div class="ttdeci">JPH_INLINE Vec3 GetAxisZ() const</div><div class="ttdef"><b>Definition</b> Mat44.h:150</div></div>
    1197. 

  1197. <div class="ttc" id="aclass_mat44_html_a1b8c82590f5034e8c7f35157fdfd944f"><div class="ttname"><a href="class_mat44.html#a1b8c82590f5034e8c7f35157fdfd944f">Mat44::sIdentity</a></div><div class="ttdeci">static JPH_INLINE Mat44 sIdentity()</div><div class="ttdoc">Identity matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:35</div></div>
    1198. 

  1198. <div class="ttc" id="aclass_mat44_html_a1c302e1f10c6c5a233aed4a540e0f598"><div class="ttname"><a href="class_mat44.html#a1c302e1f10c6c5a233aed4a540e0f598">Mat44::Multiply3x3LeftTransposed</a></div><div class="ttdeci">JPH_INLINE Mat44 Multiply3x3LeftTransposed(Mat44Arg inM) const</div><div class="ttdoc">Multiply transpose of 3x3 matrix by 3x3 matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:383</div></div>
    1199. 

  1199. <div class="ttc" id="aclass_mat44_html_a1e3a8da1cf3a631ffaf478ca3f6bb1ed"><div class="ttname"><a href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a></div><div class="ttdeci">static JPH_INLINE Mat44 sZero()</div><div class="ttdoc">Zero matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:30</div></div>
    1200. 

  1200. <div class="ttc" id="aclass_mat44_html_a1e977c53b5f6a0c03f8da33ebef2c05a"><div class="ttname"><a href="class_mat44.html#a1e977c53b5f6a0c03f8da33ebef2c05a">Mat44::GetQuaternion</a></div><div class="ttdeci">JPH_INLINE Quat GetQuaternion() const</div><div class="ttdoc">Convert to quaternion.</div><div class="ttdef"><b>Definition</b> Mat44.inl:783</div></div>
    1201. 

  1201. <div class="ttc" id="aclass_mat44_html_a1f51050b35215131c7da9a7de78a3e1e"><div class="ttname"><a href="class_mat44.html#a1f51050b35215131c7da9a7de78a3e1e">Mat44::StoreFloat4x4</a></div><div class="ttdeci">JPH_INLINE void StoreFloat4x4(Float4 *outV) const</div><div class="ttdoc">Store matrix to memory.</div><div class="ttdef"><b>Definition</b> Mat44.inl:461</div></div>
    1202. 

  1202. <div class="ttc" id="aclass_mat44_html_a22b266ee0c8cb215e96edaebc50d2cbf"><div class="ttname"><a href="class_mat44.html#a22b266ee0c8cb215e96edaebc50d2cbf">Mat44::operator-</a></div><div class="ttdeci">JPH_INLINE Mat44 operator-() const</div><div class="ttdoc">Negate.</div><div class="ttdef"><b>Definition</b> Mat44.inl:437</div></div>
    1203. 

  1203. <div class="ttc" id="aclass_mat44_html_a23d5a6de1a0058d380a0bf42d263c659"><div class="ttname"><a href="class_mat44.html#a23d5a6de1a0058d380a0bf42d263c659">Mat44::sCrossProduct</a></div><div class="ttdeci">static JPH_INLINE Mat44 sCrossProduct(Vec3Arg inV)</div><div class="ttdoc">Get matrix that represents a cross product .</div><div class="ttdef"><b>Definition</b> Mat44.inl:179</div></div>
    1204. 

  1204. <div class="ttc" id="aclass_mat44_html_a29830ba9d80d31e00d30abcc0c099e7c"><div class="ttname"><a href="class_mat44.html#a29830ba9d80d31e00d30abcc0c099e7c">Mat44::Transposed3x3</a></div><div class="ttdeci">JPH_INLINE Mat44 Transposed3x3() const</div><div class="ttdoc">Transpose 3x3 subpart of matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:502</div></div>
    1205. 

  1205. <div class="ttc" id="aclass_mat44_html_a2a3d5b10d49ac1eed4eae855a0fd25d9"><div class="ttname"><a href="class_mat44.html#a2a3d5b10d49ac1eed4eae855a0fd25d9">Mat44::operator*=</a></div><div class="ttdeci">JPH_INLINE Mat44 &amp; operator*=(float inV)</div><div class="ttdoc">Multiply matrix with float.</div><div class="ttdef"><b>Definition</b> Mat44.inl:421</div></div>
    1206. 

  1206. <div class="ttc" id="aclass_mat44_html_a2b5ba5e6c68b059ae61a1bbc1b7fbb87"><div class="ttname"><a href="class_mat44.html#a2b5ba5e6c68b059ae61a1bbc1b7fbb87">Mat44::GetDeterminant3x3</a></div><div class="ttdeci">JPH_INLINE float GetDeterminant3x3() const</div><div class="ttdoc">Get the determinant of a 3x3 matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:736</div></div>
    1207. 

  1207. <div class="ttc" id="aclass_mat44_html_a2b688da0262b9096bfac9ddfa2c27e52"><div class="ttname"><a href="class_mat44.html#a2b688da0262b9096bfac9ddfa2c27e52">Mat44::sQuatRightMultiply</a></div><div class="ttdeci">static JPH_INLINE Mat44 sQuatRightMultiply(QuatArg inQ)</div><div class="ttdoc">Returns matrix MR so that  (where p and q are quaternions)</div><div class="ttdef"><b>Definition</b> Mat44.inl:847</div></div>
    1208. 

  1208. <div class="ttc" id="aclass_mat44_html_a388723db2d35de31efcee6ff0cfb711d"><div class="ttname"><a href="class_mat44.html#a388723db2d35de31efcee6ff0cfb711d">Mat44::Transposed</a></div><div class="ttdeci">JPH_INLINE Mat44 Transposed() const</div><div class="ttdoc">Transpose matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:467</div></div>
    1209. 

  1209. <div class="ttc" id="aclass_mat44_html_a3aa8910fb3ed0cba6463518fe7d52328"><div class="ttname"><a href="class_mat44.html#a3aa8910fb3ed0cba6463518fe7d52328">Mat44::Type</a></div><div class="ttdeci">Vec4::Type Type</div><div class="ttdef"><b>Definition</b> Mat44.h:18</div></div>
    1210. 

  1210. <div class="ttc" id="aclass_mat44_html_a3b9c1e6d186b9ad59e81255c64049f22"><div class="ttname"><a href="class_mat44.html#a3b9c1e6d186b9ad59e81255c64049f22">Mat44::Adjointed3x3</a></div><div class="ttdeci">JPH_INLINE Mat44 Adjointed3x3() const</div><div class="ttdoc">Get the adjoint of a 3x3 matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:741</div></div>
    1211. 

  1211. <div class="ttc" id="aclass_mat44_html_a3be30e0ae2ded68ebb5ceea9afbfe5c1"><div class="ttname"><a href="class_mat44.html#a3be30e0ae2ded68ebb5ceea9afbfe5c1">Mat44::operator==</a></div><div class="ttdeci">JPH_INLINE bool operator==(Mat44Arg inM2) const</div><div class="ttdoc">Comparison.</div><div class="ttdef"><b>Definition</b> Mat44.inl:225</div></div>
    1212. 

  1212. <div class="ttc" id="aclass_mat44_html_a3d393e34a43a22b0fbd2aba60f364434"><div class="ttname"><a href="class_mat44.html#a3d393e34a43a22b0fbd2aba60f364434">Mat44::sRotationZ</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationZ(float inZ)</div><div class="ttdef"><b>Definition</b> Mat44.inl:77</div></div>
    1213. 

  1213. <div class="ttc" id="aclass_mat44_html_a3e2a056f901661fd715528c325df455d"><div class="ttname"><a href="class_mat44.html#a3e2a056f901661fd715528c325df455d">Mat44::sLoadFloat4x4</a></div><div class="ttdeci">static JPH_INLINE Mat44 sLoadFloat4x4(const Float4 *inV)</div><div class="ttdoc">Load 16 floats from memory.</div><div class="ttdef"><b>Definition</b> Mat44.inl:45</div></div>
    1214. 

  1214. <div class="ttc" id="aclass_mat44_html_a3ed66bc4c5e8e010657bd5bb109f1406"><div class="ttname"><a href="class_mat44.html#a3ed66bc4c5e8e010657bd5bb109f1406">Mat44::Multiply3x3Transposed</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3Transposed(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the transpose of the matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:336</div></div>
    1215. 

  1215. <div class="ttc" id="aclass_mat44_html_a44ee960223f2270ce7ea2840418e3c72"><div class="ttname"><a href="class_mat44.html#a44ee960223f2270ce7ea2840418e3c72">Mat44::sOuterProduct</a></div><div class="ttdeci">static JPH_INLINE Mat44 sOuterProduct(Vec3Arg inV1, Vec3Arg inV2)</div><div class="ttdoc">Get outer product of inV and inV2 (equivalent to )</div><div class="ttdef"><b>Definition</b> Mat44.inl:173</div></div>
    1216. 

  1216. <div class="ttc" id="aclass_mat44_html_a48f32e1e7f27b3eeaa8913d53b2c808f"><div class="ttname"><a href="class_mat44.html#a48f32e1e7f27b3eeaa8913d53b2c808f">Mat44::sLookAt</a></div><div class="ttdeci">static JPH_INLINE Mat44 sLookAt(Vec3Arg inPos, Vec3Arg inTarget, Vec3Arg inUp)</div><div class="ttdef"><b>Definition</b> Mat44.inl:207</div></div>
    1217. 

  1217. <div class="ttc" id="aclass_mat44_html_a4cc37dcc7b9be4ab8f8e94bf49e06204"><div class="ttname"><a href="class_mat44.html#a4cc37dcc7b9be4ab8f8e94bf49e06204">Mat44::GetRotation</a></div><div class="ttdeci">JPH_INLINE Mat44 GetRotation() const</div><div class="ttdoc">Get rotation part only (note: retains the first 3 values from the bottom row)</div><div class="ttdef"><b>Definition</b> Mat44.inl:856</div></div>
    1218. 

  1218. <div class="ttc" id="aclass_mat44_html_a564ee35616cca9a01624760e58bfb9ca"><div class="ttname"><a href="class_mat44.html#a564ee35616cca9a01624760e58bfb9ca">Mat44::GetRotationSafe</a></div><div class="ttdeci">JPH_INLINE Mat44 GetRotationSafe() const</div><div class="ttdoc">Get rotation part only (note: also clears the bottom row)</div><div class="ttdef"><b>Definition</b> Mat44.inl:865</div></div>
    1219. 

  1219. <div class="ttc" id="aclass_mat44_html_a595ae3cf26d9fb87761e20b6b35d3d10"><div class="ttname"><a href="class_mat44.html#a595ae3cf26d9fb87761e20b6b35d3d10">Mat44::Multiply3x3RightTransposed</a></div><div class="ttdeci">JPH_INLINE Mat44 Multiply3x3RightTransposed(Mat44Arg inM) const</div><div class="ttdoc">Multiply 3x3 matrix by the transpose of a 3x3 matrix ( )</div><div class="ttdef"><b>Definition</b> Mat44.inl:397</div></div>
    1220. 

  1220. <div class="ttc" id="aclass_mat44_html_a5c6898814660114482bbfc4908c3ad37"><div class="ttname"><a href="class_mat44.html#a5c6898814660114482bbfc4908c3ad37">Mat44::sNaN</a></div><div class="ttdeci">static JPH_INLINE Mat44 sNaN()</div><div class="ttdoc">Matrix filled with NaN's.</div><div class="ttdef"><b>Definition</b> Mat44.inl:40</div></div>
    1221. 

  1221. <div class="ttc" id="aclass_mat44_html_a60273e38c2e5071066f14905698ef994"><div class="ttname"><a href="class_mat44.html#a60273e38c2e5071066f14905698ef994">Mat44::operator+=</a></div><div class="ttdeci">JPH_INLINE Mat44 &amp; operator+=(Mat44Arg inM)</div><div class="ttdoc">Per element addition of matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:453</div></div>
    1222. 

  1222. <div class="ttc" id="aclass_mat44_html_a6503ccd1384b6681d191c327961fbb6d"><div class="ttname"><a href="class_mat44.html#a6503ccd1384b6681d191c327961fbb6d">Mat44::PostScaled</a></div><div class="ttdeci">JPH_INLINE Mat44 PostScaled(Vec3Arg inScale) const</div><div class="ttdoc">Scale a matrix: result = Mat44::sScale(inScale) * this.</div><div class="ttdef"><b>Definition</b> Mat44.inl:913</div></div>
    1223. 

  1223. <div class="ttc" id="aclass_mat44_html_a69e383afe2897a0179fdeb7a418d961d"><div class="ttname"><a href="class_mat44.html#a69e383afe2897a0179fdeb7a418d961d">Mat44::IsClose</a></div><div class="ttdeci">JPH_INLINE bool IsClose(Mat44Arg inM2, float inMaxDistSq=1.0e-12f) const</div><div class="ttdoc">Test if two matrices are close.</div><div class="ttdef"><b>Definition</b> Mat44.inl:233</div></div>
    1224. 

  1224. <div class="ttc" id="aclass_mat44_html_a814c04077820ea83f444ccc5ae48299f"><div class="ttname"><a href="class_mat44.html#a814c04077820ea83f444ccc5ae48299f">Mat44::SetInversed3x3</a></div><div class="ttdeci">JPH_INLINE bool SetInversed3x3(Mat44Arg inM)</div><div class="ttdoc">*this = inM.Inversed3x3(), returns false if the matrix is singular in which case *this is unchanged</div><div class="ttdef"><b>Definition</b> Mat44.inl:767</div></div>
    1225. 

  1225. <div class="ttc" id="aclass_mat44_html_a858ecd5c9c124039f5c7adab5bcf5041"><div class="ttname"><a href="class_mat44.html#a858ecd5c9c124039f5c7adab5bcf5041">Mat44::sScale</a></div><div class="ttdeci">static JPH_INLINE Mat44 sScale(float inScale)</div><div class="ttdoc">Get matrix that scales uniformly.</div><div class="ttdef"><b>Definition</b> Mat44.inl:163</div></div>
    1226. 

  1226. <div class="ttc" id="aclass_mat44_html_a8bcbeea9029c5251ff4ea9bd4d518f4c"><div class="ttname"><a href="class_mat44.html#a8bcbeea9029c5251ff4ea9bd4d518f4c">Mat44::sLoadFloat4x4Aligned</a></div><div class="ttdeci">static JPH_INLINE Mat44 sLoadFloat4x4Aligned(const Float4 *inV)</div><div class="ttdoc">Load 16 floats from memory, 16 bytes aligned.</div><div class="ttdef"><b>Definition</b> Mat44.inl:53</div></div>
    1227. 

  1227. <div class="ttc" id="aclass_mat44_html_a8cc7184902ce670d0822a28a8906df52"><div class="ttname"><a href="class_mat44.html#a8cc7184902ce670d0822a28a8906df52">Mat44::sTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sTranslation(Vec3Arg inV)</div><div class="ttdoc">Get matrix that translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:144</div></div>
    1228. 

  1228. <div class="ttc" id="aclass_mat44_html_a97c469ed78611039f85415381a67f312"><div class="ttname"><a href="class_mat44.html#a97c469ed78611039f85415381a67f312">Mat44::GetColumn4</a></div><div class="ttdeci">JPH_INLINE Vec4 GetColumn4(uint inCol) const</div><div class="ttdef"><b>Definition</b> Mat44.h:160</div></div>
    1229. 

  1229. <div class="ttc" id="aclass_mat44_html_aa11f571efdce00289f87a65317fbdd58"><div class="ttname"><a href="class_mat44.html#aa11f571efdce00289f87a65317fbdd58">Mat44::Decompose</a></div><div class="ttdeci">JPH_INLINE Mat44 Decompose(Vec3 &amp;outScale) const</div><div class="ttdef"><b>Definition</b> Mat44.inl:919</div></div>
    1230. 

  1230. <div class="ttc" id="aclass_mat44_html_aa71942f9a684cf2e0e55f8c9ba8f5b99"><div class="ttname"><a href="class_mat44.html#aa71942f9a684cf2e0e55f8c9ba8f5b99">Mat44::GetAxisX</a></div><div class="ttdeci">JPH_INLINE Vec3 GetAxisX() const</div><div class="ttdoc">Access to the columns.</div><div class="ttdef"><b>Definition</b> Mat44.h:146</div></div>
    1231. 

  1231. <div class="ttc" id="aclass_mat44_html_aae48032b0b6d27778617b8546135b057"><div class="ttname"><a href="class_mat44.html#aae48032b0b6d27778617b8546135b057">Mat44::Inversed</a></div><div class="ttdeci">JPH_INLINE Mat44 Inversed() const</div><div class="ttdoc">Inverse 4x4 matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:538</div></div>
    1232. 

  1232. <div class="ttc" id="aclass_mat44_html_ab599aaeab3e4b832f7f4097816650b14"><div class="ttname"><a href="class_mat44.html#ab599aaeab3e4b832f7f4097816650b14">Mat44::Multiply3x3</a></div><div class="ttdeci">JPH_INLINE Vec3 Multiply3x3(Vec3Arg inV) const</div><div class="ttdoc">Multiply vector by only 3x3 part of the matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:316</div></div>
    1233. 

  1233. <div class="ttc" id="aclass_mat44_html_aba5427f45393b40263d52ec614cfa985"><div class="ttname"><a href="class_mat44.html#aba5427f45393b40263d52ec614cfa985">Mat44::sRotationTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationTranslation(QuatArg inR, Vec3Arg inT)</div><div class="ttdoc">Get matrix that rotates and translates.</div><div class="ttdef"><b>Definition</b> Mat44.inl:149</div></div>
    1234. 

  1234. <div class="ttc" id="aclass_mat44_html_abd5dc78238403195cbd0cde87f40af49"><div class="ttname"><a href="class_mat44.html#abd5dc78238403195cbd0cde87f40af49">Mat44::SetRotation</a></div><div class="ttdeci">JPH_INLINE void SetRotation(Mat44Arg inRotation)</div><div class="ttdoc">Updates the rotation part of this matrix (the first 3 columns)</div><div class="ttdef"><b>Definition</b> Mat44.inl:891</div></div>
    1235. 

  1235. <div class="ttc" id="aclass_mat44_html_abd89da8ac7b4e4c5b87c02caabbf10b8"><div class="ttname"><a href="class_mat44.html#abd89da8ac7b4e4c5b87c02caabbf10b8">Mat44::GetTranslation</a></div><div class="ttdeci">JPH_INLINE Vec3 GetTranslation() const</div><div class="ttdef"><b>Definition</b> Mat44.h:152</div></div>
    1236. 

  1236. <div class="ttc" id="aclass_mat44_html_ac0c3181759450b3498b5dc53967f803d"><div class="ttname"><a href="class_mat44.html#ac0c3181759450b3498b5dc53967f803d">Mat44::operator+</a></div><div class="ttdeci">JPH_INLINE Mat44 operator+(Mat44Arg inM) const</div><div class="ttdoc">Per element addition of matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:429</div></div>
    1237. 

  1237. <div class="ttc" id="aclass_mat44_html_ac3109f2d950061c0b4de57e76a132634"><div class="ttname"><a href="class_mat44.html#ac3109f2d950061c0b4de57e76a132634">Mat44::sRotation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotate around arbitrary axis.</div><div class="ttdef"><b>Definition</b> Mat44.inl:139</div></div>
    1238. 

  1238. <div class="ttc" id="aclass_mat44_html_ac8be820a7eeb44bf570abb8dc01f4c59"><div class="ttname"><a href="class_mat44.html#ac8be820a7eeb44bf570abb8dc01f4c59">Mat44::sInverseRotationTranslation</a></div><div class="ttdeci">static JPH_INLINE Mat44 sInverseRotationTranslation(QuatArg inR, Vec3Arg inT)</div><div class="ttdoc">Get inverse matrix of sRotationTranslation.</div><div class="ttdef"><b>Definition</b> Mat44.inl:156</div></div>
    1239. 

  1239. <div class="ttc" id="aclass_mat44_html_ad95a3b3f36bf3216574383e3dfb927ed"><div class="ttname"><a href="class_mat44.html#ad95a3b3f36bf3216574383e3dfb927ed">Mat44::Mat44</a></div><div class="ttdeci">Mat44()=default</div><div class="ttdoc">Constructor.</div></div>
    1240. 

  1240. <div class="ttc" id="aclass_mat44_html_ad9f5df546296a7bdc816e6be5627926b"><div class="ttname"><a href="class_mat44.html#ad9f5df546296a7bdc816e6be5627926b">Mat44::Inversed3x3</a></div><div class="ttdeci">JPH_INLINE Mat44 Inversed3x3() const</div><div class="ttdoc">Inverse 3x3 matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:753</div></div>
    1241. 

  1241. <div class="ttc" id="aclass_mat44_html_adca3adc84118200afa5f4203164d241f"><div class="ttname"><a href="class_mat44.html#adca3adc84118200afa5f4203164d241f">Mat44::sQuatLeftMultiply</a></div><div class="ttdeci">static JPH_INLINE Mat44 sQuatLeftMultiply(QuatArg inQ)</div><div class="ttdoc">Returns matrix ML so that  (where p and q are quaternions)</div><div class="ttdef"><b>Definition</b> Mat44.inl:838</div></div>
    1242. 

  1242. <div class="ttc" id="aclass_mat44_html_ae89e485f03d9a5dbaf317c057f4eac30"><div class="ttname"><a href="class_mat44.html#ae89e485f03d9a5dbaf317c057f4eac30">Mat44::SetTranslation</a></div><div class="ttdeci">JPH_INLINE void SetTranslation(Vec3Arg inV)</div><div class="ttdef"><b>Definition</b> Mat44.h:153</div></div>
    1243. 

  1243. <div class="ttc" id="aclass_mat44_html_aef3d368ff37b2b927b1f74573371a06e"><div class="ttname"><a href="class_mat44.html#aef3d368ff37b2b927b1f74573371a06e">Mat44::sPerspective</a></div><div class="ttdeci">static JPH_INLINE Mat44 sPerspective(float inFovY, float inAspect, float inNear, float inFar)</div><div class="ttdoc">Returns a right-handed perspective projection matrix.</div><div class="ttdef"><b>Definition</b> Mat44.inl:216</div></div>
    1244. 

  1244. <div class="ttc" id="aclass_mat44_html_af243335b6d6acec2cf71d4cdc79bdff4"><div class="ttname"><a href="class_mat44.html#af243335b6d6acec2cf71d4cdc79bdff4">Mat44::sRotationX</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationX(float inX)</div><div class="ttdoc">Rotate around X, Y or Z axis (angle in radians)</div><div class="ttdef"><b>Definition</b> Mat44.inl:61</div></div>
    1245. 

  1245. <div class="ttc" id="aclass_mat44_html_af962ad0ed20cb6112f8249cb9573c233"><div class="ttname"><a href="class_mat44.html#af962ad0ed20cb6112f8249cb9573c233">Mat44::InversedRotationTranslation</a></div><div class="ttdeci">JPH_INLINE Mat44 InversedRotationTranslation() const</div><div class="ttdoc">Inverse 4x4 matrix when it only contains rotation and translation.</div><div class="ttdef"><b>Definition</b> Mat44.inl:729</div></div>
    1246. 

  1246. <div class="ttc" id="aclass_mat44_html_af9c9948eced621a54424f05c397824dd"><div class="ttname"><a href="class_mat44.html#af9c9948eced621a54424f05c397824dd">Mat44::PreScaled</a></div><div class="ttdeci">JPH_INLINE Mat44 PreScaled(Vec3Arg inScale) const</div><div class="ttdoc">Scale a matrix: result = this * Mat44::sScale(inScale)</div><div class="ttdef"><b>Definition</b> Mat44.inl:908</div></div>
    1247. 

  1247. <div class="ttc" id="aclass_mat44_html_afc881fca3e2d653815f0e7742ad4dce8"><div class="ttname"><a href="class_mat44.html#afc881fca3e2d653815f0e7742ad4dce8">Mat44::sRotationY</a></div><div class="ttdeci">static JPH_INLINE Mat44 sRotationY(float inY)</div><div class="ttdef"><b>Definition</b> Mat44.inl:69</div></div>
    1248. 

  1248. <div class="ttc" id="aclass_mat44_html_afe860f899612b75ff8be07c018614c5b"><div class="ttname"><a href="class_mat44.html#afe860f899612b75ff8be07c018614c5b">Mat44::operator*</a></div><div class="ttdeci">friend JPH_INLINE Mat44 operator*(float inV, Mat44Arg inM)</div><div class="ttdef"><b>Definition</b> Mat44.h:128</div></div>
    1249. 

  1249. <div class="ttc" id="aclass_quat_html"><div class="ttname"><a href="class_quat.html">Quat</a></div><div class="ttdef"><b>Definition</b> Quat.h:33</div></div>
    1250. 

  1250. <div class="ttc" id="aclass_quat_html_a13d0159a54a94e6a90dc5952f454b09e"><div class="ttname"><a href="class_quat.html#a13d0159a54a94e6a90dc5952f454b09e">Quat::GetW</a></div><div class="ttdeci">JPH_INLINE float GetW() const</div><div class="ttdoc">Get W component (real part)</div><div class="ttdef"><b>Definition</b> Quat.h:79</div></div>
    1251. 

  1251. <div class="ttc" id="aclass_quat_html_a21f44684684b475d9f5d02ed9c580def"><div class="ttname"><a href="class_quat.html#a21f44684684b475d9f5d02ed9c580def">Quat::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdoc">Get Y component (imaginary part j)</div><div class="ttdef"><b>Definition</b> Quat.h:73</div></div>
    1252. 

  1252. <div class="ttc" id="aclass_quat_html_a38dfc20f7628eee4492125a41ad91764"><div class="ttname"><a href="class_quat.html#a38dfc20f7628eee4492125a41ad91764">Quat::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdoc">Get Z component (imaginary part k)</div><div class="ttdef"><b>Definition</b> Quat.h:76</div></div>
    1253. 

  1253. <div class="ttc" id="aclass_quat_html_a3ac594bf7be610138e90735ae99ff8e9"><div class="ttname"><a href="class_quat.html#a3ac594bf7be610138e90735ae99ff8e9">Quat::sRotation</a></div><div class="ttdeci">static JPH_INLINE Quat sRotation(Vec3Arg inAxis, float inAngle)</div><div class="ttdoc">Rotation from axis and angle.</div><div class="ttdef"><b>Definition</b> Quat.inl:128</div></div>
    1254. 

  1254. <div class="ttc" id="aclass_quat_html_a3fb43a7bca4b20ce7573030fd826aa96"><div class="ttname"><a href="class_quat.html#a3fb43a7bca4b20ce7573030fd826aa96">Quat::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get X component (imaginary part i)</div><div class="ttdef"><b>Definition</b> Quat.h:70</div></div>
    1255. 

  1255. <div class="ttc" id="aclass_quat_html_ac69dfd8cdf79a19b8c3f385125ff5ddc"><div class="ttname"><a href="class_quat.html#ac69dfd8cdf79a19b8c3f385125ff5ddc">Quat::Conjugated</a></div><div class="ttdeci">JPH_INLINE Quat Conjugated() const</div><div class="ttdoc">The conjugate [w, -x, -y, -z] is the same as the inverse for unit quaternions.</div><div class="ttdef"><b>Definition</b> Quat.h:182</div></div>
    1256. 

  1256. <div class="ttc" id="aclass_quat_html_ae628a9685f0be008f18752ea9302b4e4"><div class="ttname"><a href="class_quat.html#ae628a9685f0be008f18752ea9302b4e4">Quat::IsNormalized</a></div><div class="ttdeci">bool IsNormalized(float inTolerance=1.0e-5f) const</div><div class="ttdoc">If the length of this quaternion is 1 +/- inTolerance.</div><div class="ttdef"><b>Definition</b> Quat.h:60</div></div>
    1257. 

  1257. <div class="ttc" id="aclass_quat_html_afad087a5997d1318f544b5c9819c4d9b"><div class="ttname"><a href="class_quat.html#afad087a5997d1318f544b5c9819c4d9b">Quat::mValue</a></div><div class="ttdeci">Vec4 mValue</div><div class="ttdoc">4 vector that stores [x, y, z, w] parts of the quaternion</div><div class="ttdef"><b>Definition</b> Quat.h:261</div></div>
    1258. 

  1258. <div class="ttc" id="aclass_u_vec4_html_a48549afaeaba00fc4b45a10c50656c9f"><div class="ttname"><a href="class_u_vec4.html#a48549afaeaba00fc4b45a10c50656c9f">UVec4::TestAllTrue</a></div><div class="ttdeci">JPH_INLINE bool TestAllTrue() const</div><div class="ttdoc">Test if all components are true (true is when highest bit of component is set)</div><div class="ttdef"><b>Definition</b> UVec4.inl:463</div></div>
    1259. 

  1259. <div class="ttc" id="aclass_u_vec4_html_a69a2126a24a31ead596e3316c1285145"><div class="ttname"><a href="class_u_vec4.html#a69a2126a24a31ead596e3316c1285145">UVec4::sAnd</a></div><div class="ttdeci">static JPH_INLINE UVec4 sAnd(UVec4Arg inV1, UVec4Arg inV2)</div><div class="ttdoc">Logical and (component wise)</div><div class="ttdef"><b>Definition</b> UVec4.inl:202</div></div>
    1260. 

  1260. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    1261. 

  1261. <div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
    1262. 

  1262. <div class="ttc" id="aclass_vec3_html_a0fd5f4e55649a94f140bd9d6fe38be3c"><div class="ttname"><a href="class_vec3.html#a0fd5f4e55649a94f140bd9d6fe38be3c">Vec3::sFixW</a></div><div class="ttdeci">static JPH_INLINE Type sFixW(Type inValue)</div><div class="ttdoc">Internal helper function that ensures that the Z component is replicated to the W component to preven...</div></div>
    1263. 

  1263. <div class="ttc" id="aclass_vec3_html_a142cc5c79f08229eb11532c26f1a1e90"><div class="ttname"><a href="class_vec3.html#a142cc5c79f08229eb11532c26f1a1e90">Vec3::sAxisX</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisX()</div><div class="ttdoc">Vectors with the principal axis.</div><div class="ttdef"><b>Definition</b> Vec3.h:56</div></div>
    1264. 

  1264. <div class="ttc" id="aclass_vec3_html_a1b03f087ce2755a85ccba4ba56f1e64b"><div class="ttname"><a href="class_vec3.html#a1b03f087ce2755a85ccba4ba56f1e64b">Vec3::SplatX</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatX() const</div><div class="ttdoc">Replicate the X component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:534</div></div>
    1265. 

  1265. <div class="ttc" id="aclass_vec3_html_a224811af391ccfd1e05282eda22d1de8"><div class="ttname"><a href="class_vec3.html#a224811af391ccfd1e05282eda22d1de8">Vec3::Cross</a></div><div class="ttdeci">JPH_INLINE Vec3 Cross(Vec3Arg inV2) const</div><div class="ttdoc">Cross product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:595</div></div>
    1266. 

  1266. <div class="ttc" id="aclass_vec3_html_a284e29f161ae7709a934f402bd2a848c"><div class="ttname"><a href="class_vec3.html#a284e29f161ae7709a934f402bd2a848c">Vec3::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec3.h:127</div></div>
    1267. 

  1267. <div class="ttc" id="aclass_vec3_html_a6c6409cad56e4e357f73d43cd719ffe8"><div class="ttname"><a href="class_vec3.html#a6c6409cad56e4e357f73d43cd719ffe8">Vec3::NormalizedOr</a></div><div class="ttdeci">JPH_INLINE Vec3 NormalizedOr(Vec3Arg inZeroValue) const</div><div class="ttdoc">Normalize vector or return inZeroValue if the length of the vector is zero.</div><div class="ttdef"><b>Definition</b> Vec3.inl:721</div></div>
    1268. 

  1268. <div class="ttc" id="aclass_vec3_html_a81f4448e17219aafda0e3b886709d1f4"><div class="ttname"><a href="class_vec3.html#a81f4448e17219aafda0e3b886709d1f4">Vec3::SplatZ</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatZ() const</div><div class="ttdoc">Replicate the Z component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:556</div></div>
    1269. 

  1269. <div class="ttc" id="aclass_vec3_html_a91b9fad968034550f4681c14273c77d8"><div class="ttname"><a href="class_vec3.html#a91b9fad968034550f4681c14273c77d8">Vec3::SetZ</a></div><div class="ttdeci">JPH_INLINE void SetZ(float inZ)</div><div class="ttdef"><b>Definition</b> Vec3.h:135</div></div>
    1270. 

  1270. <div class="ttc" id="aclass_vec3_html_aa16ac2747950d2e64537f8454872d174"><div class="ttname"><a href="class_vec3.html#aa16ac2747950d2e64537f8454872d174">Vec3::sAxisZ</a></div><div class="ttdeci">static JPH_INLINE Vec3 sAxisZ()</div><div class="ttdef"><b>Definition</b> Vec3.h:58</div></div>
    1271. 

  1271. <div class="ttc" id="aclass_vec3_html_aa84e1ff8ea2e1cea4b73c7768966fa03"><div class="ttname"><a href="class_vec3.html#aa84e1ff8ea2e1cea4b73c7768966fa03">Vec3::mValue</a></div><div class="ttdeci">Type mValue</div><div class="ttdef"><b>Definition</b> Vec3.h:299</div></div>
    1272. 

  1272. <div class="ttc" id="aclass_vec3_html_aac08ebd63b9ab4fa089a5ed3224a8679"><div class="ttname"><a href="class_vec3.html#aac08ebd63b9ab4fa089a5ed3224a8679">Vec3::GetY</a></div><div class="ttdeci">JPH_INLINE float GetY() const</div><div class="ttdef"><b>Definition</b> Vec3.h:128</div></div>
    1273. 

  1273. <div class="ttc" id="aclass_vec3_html_aad5b4211a6d98be56362559eefd9b029"><div class="ttname"><a href="class_vec3.html#aad5b4211a6d98be56362559eefd9b029">Vec3::SplatY</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatY() const</div><div class="ttdoc">Replicate the Y component to all components.</div><div class="ttdef"><b>Definition</b> Vec3.inl:545</div></div>
    1274. 

  1274. <div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
    1275. 

  1275. <div class="ttc" id="aclass_vec3_html_aca3385f3736a2231ace7de3a558d2863"><div class="ttname"><a href="class_vec3.html#aca3385f3736a2231ace7de3a558d2863">Vec3::mF32</a></div><div class="ttdeci">float mF32[4]</div><div class="ttdef"><b>Definition</b> Vec3.h:300</div></div>
    1276. 

  1276. <div class="ttc" id="aclass_vec3_html_ae3693c78a72d92e9ab821025f8ed28cf"><div class="ttname"><a href="class_vec3.html#ae3693c78a72d92e9ab821025f8ed28cf">Vec3::Sqrt</a></div><div class="ttdeci">JPH_INLINE Vec3 Sqrt() const</div><div class="ttdoc">Component wise square root.</div><div class="ttdef"><b>Definition</b> Vec3.inl:696</div></div>
    1277. 

  1277. <div class="ttc" id="aclass_vec3_html_aeca36d050a7c2b41d3ac0438874d8c60"><div class="ttname"><a href="class_vec3.html#aeca36d050a7c2b41d3ac0438874d8c60">Vec3::GetZ</a></div><div class="ttdeci">JPH_INLINE float GetZ() const</div><div class="ttdef"><b>Definition</b> Vec3.h:129</div></div>
    1278. 

  1278. <div class="ttc" id="aclass_vec4_html"><div class="ttname"><a href="class_vec4.html">Vec4</a></div><div class="ttdef"><b>Definition</b> Vec4.h:14</div></div>
    1279. 

  1279. <div class="ttc" id="aclass_vec4_html_a02525e7f8473c93268058324115eeb02"><div class="ttname"><a href="class_vec4.html#a02525e7f8473c93268058324115eeb02">Vec4::SplatX</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatX() const</div><div class="ttdoc">Replicate the X component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:573</div></div>
    1280. 

  1280. <div class="ttc" id="aclass_vec4_html_a11992deca442bea5ba8c474274f17086"><div class="ttname"><a href="class_vec4.html#a11992deca442bea5ba8c474274f17086">Vec4::mF32</a></div><div class="ttdeci">float mF32[4]</div><div class="ttdef"><b>Definition</b> Vec4.h:312</div></div>
    1281. 

  1281. <div class="ttc" id="aclass_vec4_html_a1f1c3d12bab2296d6313caf8a9929919"><div class="ttname"><a href="class_vec4.html#a1f1c3d12bab2296d6313caf8a9929919">Vec4::sLoadFloat4Aligned</a></div><div class="ttdeci">static JPH_INLINE Vec4 sLoadFloat4Aligned(const Float4 *inV)</div><div class="ttdoc">Load 4 floats from memory, 16 bytes aligned.</div><div class="ttdef"><b>Definition</b> Vec4.inl:106</div></div>
    1282. 

  1282. <div class="ttc" id="aclass_vec4_html_a309afd4b510feba9179a867802e5ecac"><div class="ttname"><a href="class_vec4.html#a309afd4b510feba9179a867802e5ecac">Vec4::FlipSign</a></div><div class="ttdeci">JPH_INLINE Vec4 FlipSign() const</div><div class="ttdoc">Flips the signs of the components, e.g. FlipSign&lt;-1, 1, -1, 1&gt;() will flip the signs of the X and Z c...</div><div class="ttdef"><b>Definition</b> Vec4.inl:785</div></div>
    1283. 

  1283. <div class="ttc" id="aclass_vec4_html_a698a4e6c270545046633b043eb36d21f"><div class="ttname"><a href="class_vec4.html#a698a4e6c270545046633b043eb36d21f">Vec4::sEquals</a></div><div class="ttdeci">static JPH_INLINE UVec4 sEquals(Vec4Arg inV1, Vec4Arg inV2)</div><div class="ttdoc">Equals (component wise)</div><div class="ttdef"><b>Definition</b> Vec4.inl:176</div></div>
    1284. 

  1284. <div class="ttc" id="aclass_vec4_html_a7ea3bcf62a6055b45527f720a51d0005"><div class="ttname"><a href="class_vec4.html#a7ea3bcf62a6055b45527f720a51d0005">Vec4::SplatY</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatY() const</div><div class="ttdoc">Replicate the Y component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:584</div></div>
    1285. 

  1285. <div class="ttc" id="aclass_vec4_html_a8fcd8e6ed1b4cf308656cca7cf68d5ee"><div class="ttname"><a href="class_vec4.html#a8fcd8e6ed1b4cf308656cca7cf68d5ee">Vec4::SplatZ</a></div><div class="ttdeci">JPH_INLINE Vec4 SplatZ() const</div><div class="ttdoc">Replicate the Z component to all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:595</div></div>
    1286. 

  1286. <div class="ttc" id="aclass_vec4_html_aad89aa3a9c4215f45c0dbe1fb65830c3"><div class="ttname"><a href="class_vec4.html#aad89aa3a9c4215f45c0dbe1fb65830c3">Vec4::GetX</a></div><div class="ttdeci">JPH_INLINE float GetX() const</div><div class="ttdoc">Get individual components.</div><div class="ttdef"><b>Definition</b> Vec4.h:119</div></div>
    1287. 

  1287. <div class="ttc" id="aclass_vec4_html_aae23cc21ead458bce2968440134f350f"><div class="ttname"><a href="class_vec4.html#aae23cc21ead458bce2968440134f350f">Vec4::sLoadFloat4</a></div><div class="ttdeci">static JPH_INLINE Vec4 sLoadFloat4(const Float4 *inV)</div><div class="ttdoc">Load 4 floats from memory.</div><div class="ttdef"><b>Definition</b> Vec4.inl:95</div></div>
    1288. 

  1288. <div class="ttc" id="aclass_vec4_html_ab3d9624594386baa4ebd8c1d340ce924"><div class="ttname"><a href="class_vec4.html#ab3d9624594386baa4ebd8c1d340ce924">Vec4::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec4 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec4.inl:63</div></div>
    1289. 

  1289. <div class="ttc" id="aclass_vec4_html_abc7417303ad93e9bbe7506e7cd045724"><div class="ttname"><a href="class_vec4.html#abc7417303ad93e9bbe7506e7cd045724">Vec4::Swizzle</a></div><div class="ttdeci">JPH_INLINE Vec4 Swizzle() const</div><div class="ttdoc">Swizzle the elements in inV.</div></div>
    1290. 

  1290. <div class="ttc" id="aclass_vec4_html_ac25b6ecd8f3fa3afe02509da4a155e5c"><div class="ttname"><a href="class_vec4.html#ac25b6ecd8f3fa3afe02509da4a155e5c">Vec4::mValue</a></div><div class="ttdeci">Type mValue</div><div class="ttdef"><b>Definition</b> Vec4.h:311</div></div>
    1291. 

  1291. <div class="ttc" id="aclass_vec4_html_ae55a1d16541b4d01f0904784dda18f54"><div class="ttname"><a href="class_vec4.html#ae55a1d16541b4d01f0904784dda18f54">Vec4::sNaN</a></div><div class="ttdeci">static JPH_INLINE Vec4 sNaN()</div><div class="ttdoc">Vector with all NaN's.</div><div class="ttdef"><b>Definition</b> Vec4.inl:90</div></div>
    1292. 

  1292. <div class="ttc" id="aclass_vec4_html_af18f350dd2885dc48ff7e7cbf4b8bc9d"><div class="ttname"><a href="class_vec4.html#af18f350dd2885dc48ff7e7cbf4b8bc9d">Vec4::sReplicate</a></div><div class="ttdeci">static JPH_INLINE Vec4 sReplicate(float inV)</div><div class="ttdoc">Replicate inV across all components.</div><div class="ttdef"><b>Definition</b> Vec4.inl:74</div></div>
    1293. 

  1293. <div class="ttc" id="aclass_vec4_html_af7e7da5ada5c3e85aac45d62871a867c"><div class="ttname"><a href="class_vec4.html#af7e7da5ada5c3e85aac45d62871a867c">Vec4::SinCos</a></div><div class="ttdeci">void SinCos(Vec4 &amp;outSin, Vec4 &amp;outCos) const</div><div class="ttdoc">Calculate the sine and cosine for each element of this vector (input in radians)</div><div class="ttdef"><b>Definition</b> Vec4.inl:867</div></div>
    1294. 

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