SIMD dot product and normalization changes (#1427)

* added aligned_highp/medp normalization

glm/detail/func_geometric_simd.inl

@@ -1,4 +1,4 @@
-/// @ref core
+/// @ref core
 /// @file glm/detail/func_geometric_simd.inl
 
 #include "../simd/geometric.h"
@@ -40,9 +40,7 @@ namespace detail
 	{
 		GLM_FUNC_QUALIFIER static float call(vec<3, float, Q> const& a, vec<3, float, Q> const& b)
 		{
-			vec<4, float, Q> aa = xyz0(a);
-			vec<4, float, Q> bb = xyz0(b);
-			return _mm_cvtss_f32(glm_vec1_dot(aa.data, bb.data));
+			return _mm_cvtss_f32(glm_vec3_dot(a.data, b.data)); // aligned as vec4
 		}
 	};
 
@@ -68,6 +66,28 @@ namespace detail
 		}
 	};
 
+	template<>
+	struct compute_normalize<4, float, aligned_lowp, true>
+	{
+		GLM_FUNC_QUALIFIER static vec<4, float, aligned_lowp> call(vec<4, float, aligned_lowp> const& v)
+		{
+			vec<4, float, aligned_lowp> Result;
+			Result.data = glm_vec4_normalize(v.data);
+			return Result;
+		}
+	};
+
+	template<>
+	struct compute_normalize<3, float, aligned_lowp, true>
+	{
+		GLM_FUNC_QUALIFIER static vec<3, float, aligned_lowp> call(vec<3, float, aligned_lowp> const& v)
+		{
+			vec<3, float, aligned_lowp> Result;
+			Result.data = glm_vec3_normalize_lowp(v.data);
+			return Result;
+		}
+	};
+
 	template<qualifier Q>
 	struct compute_normalize<4, float, Q, true>
 	{
@@ -79,6 +99,17 @@ namespace detail
 		}
 	};
 
+	template<qualifier Q>
+	struct compute_normalize<3, float, Q, true>
+	{
+		GLM_FUNC_QUALIFIER static vec<3, float, Q> call(vec<3, float, Q> const& v)
+		{
+			vec<3, float, Q> Result;
+			Result.data = glm_vec3_normalize(v.data);
+			return Result;
+		}
+	};
+
 	template<qualifier Q>
 	struct compute_faceforward<4, float, Q, true>
 	{

glm/simd/geometric.h

@@ -1,4 +1,4 @@
-/// @ref simd
+/// @ref simd
 /// @file glm/simd/geometric.h
 
 #pragma once
@@ -26,7 +26,7 @@ GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_distance(glm_vec4 p0, glm_vec4 p1)
 
 GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_dot(glm_vec4 v1, glm_vec4 v2)
 {
-#	if GLM_ARCH & GLM_ARCH_AVX_BIT
+#	if GLM_ARCH & GLM_ARCH_SSE41_BIT
 		return _mm_dp_ps(v1, v2, 0xff);
 #	elif GLM_ARCH & GLM_ARCH_SSE3_BIT
 		glm_vec4 const mul0 = _mm_mul_ps(v1, v2);
@@ -43,9 +43,33 @@ GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_dot(glm_vec4 v1, glm_vec4 v2)
 #	endif
 }
 
+GLM_FUNC_QUALIFIER glm_vec4 glm_vec3_dot(glm_vec4 v1, glm_vec4 v2)
+{
+#	if GLM_ARCH & GLM_ARCH_SSE41_BIT
+		return _mm_dp_ps(v1, v2, 0x77);
+#	elif GLM_ARCH & GLM_ARCH_SSE3_BIT
+		glm_vec4 const constant0 = _mm_castsi128_ps(_mm_setr_epi32(0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0));
+		glm_vec4 const mul0 = _mm_mul_ps(v1, v2);
+		glm_vec4 const and0 = _mm_and_ps(mul0, constant0);
+		glm_vec4 const hadd0 = _mm_hadd_ps(and0, and0);
+		glm_vec4 const hadd1 = _mm_hadd_ps(hadd0, hadd0);
+		return hadd1;
+#	else
+		glm_vec4 const constant0 = _mm_castsi128_ps(_mm_setr_epi32(0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0));
+		glm_vec4 const mul0 = _mm_mul_ps(v1, v2);
+		glm_vec4 const and0 = _mm_and_ps(mul0, constant0);
+		glm_vec4 const swp0 = _mm_shuffle_ps(and0, and0, _MM_SHUFFLE(2, 3, 0, 1));
+		glm_vec4 const add0 = _mm_add_ps(and0, swp0);
+		glm_vec4 const swp1 = _mm_shuffle_ps(add0, add0, _MM_SHUFFLE(0, 1, 2, 3));
+		glm_vec4 const add1 = _mm_add_ps(add0, swp1);
+		return add1;
+#	endif
+
+}
+
 GLM_FUNC_QUALIFIER glm_vec4 glm_vec1_dot(glm_vec4 v1, glm_vec4 v2)
 {
-#	if GLM_ARCH & GLM_ARCH_AVX_BIT
+#	if GLM_ARCH & GLM_ARCH_SSE41_BIT
 		return _mm_dp_ps(v1, v2, 0xff);
 #	elif GLM_ARCH & GLM_ARCH_SSE3_BIT
 		glm_vec4 const mul0 = _mm_mul_ps(v1, v2);
@@ -74,7 +98,7 @@ GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_cross(glm_vec4 v1, glm_vec4 v2)
 	return sub0;
 }
 
-GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_normalize(glm_vec4 v)
+GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_normalize_lowp(glm_vec4 v)
 {
 	glm_vec4 const dot0 = glm_vec4_dot(v, v);
 	glm_vec4 const isr0 = _mm_rsqrt_ps(dot0);
@@ -82,6 +106,47 @@ GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_normalize(glm_vec4 v)
 	return mul0;
 }
 
+GLM_FUNC_QUALIFIER glm_vec4 glm_vec3_normalize_lowp(glm_vec4 v)
+{
+	glm_vec4 const dot0 = glm_vec3_dot(v, v);
+	glm_vec4 const isr0 = _mm_rsqrt_ps(dot0);
+	glm_vec4 const mul0 = _mm_mul_ps(v, isr0);
+	return mul0;
+}
+
+GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_normalize(glm_vec4 v)
+{
+	glm_vec4 const dot0 = glm_vec4_dot(v, v);
+	glm_vec4 const isr0 = _mm_rsqrt_ps(dot0);
+
+	// One iteration of Newton-Raphson method to improve precision
+	glm_vec4 const mul0 = glm_vec4_mul(dot0, isr0);
+	glm_vec4 const fma0 = glm_vec4_fma(mul0, isr0, _mm_set1_ps(-3.0f));
+	glm_vec4 const mul1 = glm_vec4_mul(isr0, _mm_set1_ps(-0.5f));
+
+	glm_vec4 const mul2 = glm_vec4_mul(mul1, v);
+	glm_vec4 const mul3 = glm_vec4_mul(mul2, fma0);
+
+	return mul3;
+}
+
+GLM_FUNC_QUALIFIER glm_vec4 glm_vec3_normalize(glm_vec4 v)
+{
+	glm_vec4 const dot0 = glm_vec3_dot(v, v);
+	glm_vec4 const isr0 = _mm_rsqrt_ps(dot0);
+
+	// One iteration of Newton-Raphson method to improve precision
+	glm_vec4 const mul0 = glm_vec4_mul(dot0, isr0);
+	glm_vec4 const fma0 = glm_vec4_fma(mul0, isr0, _mm_set1_ps(-3.0f));
+	glm_vec4 const mul1 = glm_vec4_mul(isr0, _mm_set1_ps(-0.5f));
+
+	glm_vec4 const mul2 = glm_vec4_mul(mul1, v);
+	glm_vec4 const mul3 = glm_vec4_mul(mul2, fma0);
+
+	return mul3;
+}
+
+
 GLM_FUNC_QUALIFIER glm_vec4 glm_vec4_faceforward(glm_vec4 N, glm_vec4 I, glm_vec4 Nref)
 {
 	glm_vec4 const dot0 = glm_vec4_dot(Nref, I);