Mat44.inl

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Math/Vec3.h>
#include <Jolt/Math/Vec4.h>
#include <Jolt/Math/Quat.h>
 
JPH_NAMESPACE_BEGIN
 
#define JPH_EL(r, c) mCol[c].mF32[r]
 
Mat44::Mat44(Vec4Arg inC1, Vec4Arg inC2, Vec4Arg inC3, Vec4Arg inC4) :
    mCol { inC1, inC2, inC3, inC4 }
{
}
 
Mat44::Mat44(Vec4Arg inC1, Vec4Arg inC2, Vec4Arg inC3, Vec3Arg inC4) :
    mCol { inC1, inC2, inC3, Vec4(inC4, 1.0f) }
{
}
 
Mat44::Mat44(Type inC1, Type inC2, Type inC3, Type inC4) :
    mCol { inC1, inC2, inC3, inC4 }
{
}
 
Mat44 Mat44::sZero()
{
    return Mat44(Vec4::sZero(), Vec4::sZero(), Vec4::sZero(), Vec4::sZero());
}
 
Mat44 Mat44::sIdentity()
{
    return Mat44(Vec4(1, 0, 0, 0), Vec4(0, 1, 0, 0), Vec4(0, 0, 1, 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sNaN()
{
    return Mat44(Vec4::sNaN(), Vec4::sNaN(), Vec4::sNaN(), Vec4::sNaN());
}
 
Mat44 Mat44::sLoadFloat4x4(const Float4 *inV)
{
    Mat44 result;
    for (int c = 0; c < 4; ++c)
        result.mCol[c] = Vec4::sLoadFloat4(inV + c);
    return result;
}
 
Mat44 Mat44::sLoadFloat4x4Aligned(const Float4 *inV)
{
    Mat44 result;
    for (int c = 0; c < 4; ++c)
        result.mCol[c] = Vec4::sLoadFloat4Aligned(inV + c);
    return result;
}
 
Mat44 Mat44::sRotationX(float inX)
{
    Vec4 sv, cv;
    Vec4::sReplicate(inX).SinCos(sv, cv);
    float s = sv.GetX(), c = cv.GetX();
    return Mat44(Vec4(1, 0, 0, 0), Vec4(0, c, s, 0), Vec4(0, -s, c, 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sRotationY(float inY)
{
    Vec4 sv, cv;
    Vec4::sReplicate(inY).SinCos(sv, cv);
    float s = sv.GetX(), c = cv.GetX();
    return Mat44(Vec4(c, 0, -s, 0), Vec4(0, 1, 0, 0), Vec4(s, 0, c, 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sRotationZ(float inZ)
{
    Vec4 sv, cv;
    Vec4::sReplicate(inZ).SinCos(sv, cv);
    float s = sv.GetX(), c = cv.GetX();
    return Mat44(Vec4(c, s, 0, 0), Vec4(-s, c, 0, 0), Vec4(0, 0, 1, 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sRotation(QuatArg inQuat)
{
    JPH_ASSERT(inQuat.IsNormalized());
 
    // See: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation section 'Quaternion-derived rotation matrix'
#ifdef JPH_USE_SSE4_1
    __m128 xyzw = inQuat.mValue.mValue;
    __m128 two_xyzw = _mm_add_ps(xyzw, xyzw);
    __m128 yzxw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 0, 2, 1));
    __m128 two_yzxw = _mm_add_ps(yzxw, yzxw);
    __m128 zxyw = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 1, 0, 2));
    __m128 two_zxyw = _mm_add_ps(zxyw, zxyw);
    __m128 wwww = _mm_shuffle_ps(xyzw, xyzw, _MM_SHUFFLE(3, 3, 3, 3));
    __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));    // (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)
    __m128 plus = _mm_add_ps(_mm_mul_ps(two_xyzw, zxyw), _mm_mul_ps(two_yzxw, wwww));                                       // 2 * (xz + yw, xy + zw, yz + xw, ww)
    __m128 minus = _mm_sub_ps(_mm_mul_ps(two_yzxw, xyzw), _mm_mul_ps(two_zxyw, wwww));                                      // 2 * (xy - zw, yz - xw, xz - yw, 0)
 
    // Workaround for compiler changing _mm_sub_ps(_mm_mul_ps(...), ...) into a fused multiply sub instruction, resulting in w not being 0
    // There doesn't appear to be a reliable way to turn this off in Clang
    minus = _mm_insert_ps(minus, minus, 0b1000);
 
    __m128 col0 = _mm_blend_ps(_mm_blend_ps(plus, diagonal, 0b0001), minus, 0b1100);    // (1 - 2 y^2 - 2 z^2, 2 xy + 2 zw, 2 xz - 2 yw, 0)
    __m128 col1 = _mm_blend_ps(_mm_blend_ps(diagonal, minus, 0b1001), plus, 0b0100);    // (2 xy - 2 zw, 1 - 2 x^2 - 2 z^2, 2 yz + 2 xw, 0)
    __m128 col2 = _mm_blend_ps(_mm_blend_ps(minus, plus, 0b0001), diagonal, 0b0100);    // (2 xz + 2 yw, 2 yz - 2 xw, 1 - 2 x^2 - 2 y^2, 0)
    __m128 col3 = _mm_set_ps(1, 0, 0, 0);
 
    return Mat44(col0, col1, col2, col3);
#else
    float x = inQuat.GetX();
    float y = inQuat.GetY();
    float z = inQuat.GetZ();
    float w = inQuat.GetW();
 
    float tx = x + x; // 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.
    float ty = y + y;
    float tz = z + z;
 
    float xx = tx * x;
    float yy = ty * y;
    float zz = tz * z;
    float xy = tx * y;
    float xz = tx * z;
    float xw = tx * w;
    float yz = ty * z;
    float yw = ty * w;
    float zw = tz * w;
 
    return Mat44(Vec4((1.0f - yy) - zz, xy + zw, xz - yw, 0.0f), // Note: Added extra brackets to force this function to return the same value as the SSE4.1 version across platforms.
                 Vec4(xy - zw, (1.0f - zz) - xx, yz + xw, 0.0f),
                 Vec4(xz + yw, yz - xw, (1.0f - xx) - yy, 0.0f),
                 Vec4(0.0f, 0.0f, 0.0f, 1.0f));
#endif
}
 
Mat44 Mat44::sRotation(Vec3Arg inAxis, float inAngle)
{
    return sRotation(Quat::sRotation(inAxis, inAngle));
}
 
Mat44 Mat44::sTranslation(Vec3Arg inV)
{
    return Mat44(Vec4(1, 0, 0, 0), Vec4(0, 1, 0, 0), Vec4(0, 0, 1, 0), Vec4(inV, 1));
}
 
Mat44 Mat44::sRotationTranslation(QuatArg inR, Vec3Arg inT)
{
    Mat44 m = sRotation(inR);
    m.SetTranslation(inT);
    return m;
}
 
Mat44 Mat44::sInverseRotationTranslation(QuatArg inR, Vec3Arg inT)
{
    Mat44 m = sRotation(inR.Conjugated());
    m.SetTranslation(-m.Multiply3x3(inT));
    return m;
}
 
Mat44 Mat44::sScale(float inScale)
{
    return Mat44(Vec4(inScale, 0, 0, 0), Vec4(0, inScale, 0, 0), Vec4(0, 0, inScale, 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sScale(Vec3Arg inV)
{
    return Mat44(Vec4(inV.GetX(), 0, 0, 0), Vec4(0, inV.GetY(), 0, 0), Vec4(0, 0, inV.GetZ(), 0), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sOuterProduct(Vec3Arg inV1, Vec3Arg inV2)
{
    Vec4 v1(inV1, 0);
    return Mat44(v1 * inV2.SplatX(), v1 * inV2.SplatY(), v1 * inV2.SplatZ(), Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::sCrossProduct(Vec3Arg inV)
{
#ifdef JPH_USE_SSE4_1
    // Zero out the W component
    __m128 zero = _mm_setzero_ps();
    __m128 v = _mm_blend_ps(inV.mValue, zero, 0b1000);
 
    // Negate
    __m128 min_v = _mm_sub_ps(zero, v);
 
    return Mat44(
        _mm_shuffle_ps(v, min_v, _MM_SHUFFLE(3, 1, 2, 3)), // [0, z, -y, 0]
        _mm_shuffle_ps(min_v, v, _MM_SHUFFLE(3, 0, 3, 2)), // [-z, 0, x, 0]
        _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), // [y, -x, 0, 0]
        Vec4(0, 0, 0, 1));
#else
    float x = inV.GetX();
    float y = inV.GetY();
    float z = inV.GetZ();
 
    return Mat44(
        Vec4(0, z, -y, 0),
        Vec4(-z, 0, x, 0),
        Vec4(y, -x, 0, 0),
        Vec4(0, 0, 0, 1));
#endif
}
 
Mat44 Mat44::sLookAt(Vec3Arg inPos, Vec3Arg inTarget, Vec3Arg inUp)
{
    Vec3 direction = (inTarget - inPos).NormalizedOr(-Vec3::sAxisZ());
    Vec3 right = direction.Cross(inUp).NormalizedOr(Vec3::sAxisX());
    Vec3 up = right.Cross(direction);
 
    return Mat44(Vec4(right, 0), Vec4(up, 0), Vec4(-direction, 0), Vec4(inPos, 1)).InversedRotationTranslation();
}
 
Mat44 Mat44::sPerspective(float inFovY, float inAspect, float inNear, float inFar)
{
    float height = 1.0f / Tan(0.5f * inFovY);
    float width = height / inAspect;
    float range = inFar / (inNear - inFar);
 
    return Mat44(Vec4(width, 0.0f, 0.0f, 0.0f), Vec4(0.0f, height, 0.0f, 0.0f), Vec4(0.0f, 0.0f, range, -1.0f), Vec4(0.0f, 0.0f, range * inNear, 0.0f));
}
 
bool Mat44::operator == (Mat44Arg inM2) const
{
    return UVec4::sAnd(
        UVec4::sAnd(Vec4::sEquals(mCol[0], inM2.mCol[0]), Vec4::sEquals(mCol[1], inM2.mCol[1])),
        UVec4::sAnd(Vec4::sEquals(mCol[2], inM2.mCol[2]), Vec4::sEquals(mCol[3], inM2.mCol[3]))
    ).TestAllTrue();
}
 
bool Mat44::IsClose(Mat44Arg inM2, float inMaxDistSq) const
{
    for (int i = 0; i < 4; ++i)
        if (!mCol[i].IsClose(inM2.mCol[i], inMaxDistSq))
            return false;
    return true;
}
 
Mat44 Mat44::operator * (Mat44Arg inM) const
{
    Mat44 result;
#if defined(JPH_USE_SSE)
    for (int i = 0; i < 4; ++i)
    {
        __m128 c = inM.mCol[i].mValue;
        __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)));
        t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1))));
        t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2))));
        t = _mm_add_ps(t, _mm_mul_ps(mCol[3].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3))));
        result.mCol[i].mValue = t;
    }
#elif defined(JPH_USE_NEON)
    for (int i = 0; i < 4; ++i)
    {
        Type c = inM.mCol[i].mValue;
        Type t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(c, 0));
        t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(c, 1));
        t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(c, 2));
        t = vmlaq_f32(t, mCol[3].mValue, vdupq_laneq_f32(c, 3));
        result.mCol[i].mValue = t;
    }
#else
    for (int i = 0; i < 4; ++i)
        result.mCol[i] = mCol[0] * inM.mCol[i].mF32[0] + mCol[1] * inM.mCol[i].mF32[1] + mCol[2] * inM.mCol[i].mF32[2] + mCol[3] * inM.mCol[i].mF32[3];
#endif
    return result;
}
 
Vec3 Mat44::operator * (Vec3Arg inV) const
{
#if defined(JPH_USE_SSE)
    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(0, 0, 0, 0)));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(1, 1, 1, 1))));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(2, 2, 2, 2))));
    t = _mm_add_ps(t, mCol[3].mValue);
    return Vec3::sFixW(t);
#elif defined(JPH_USE_NEON)
    Type t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.mValue, 0));
    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.mValue, 1));
    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.mValue, 2));
    t = vaddq_f32(t, mCol[3].mValue); // Don't combine this with the first mul into a fused multiply add, causes precision issues
    return Vec3::sFixW(t);
#else
    return Vec3(
        mCol[0].mF32[0] * inV.mF32[0] + mCol[1].mF32[0] * inV.mF32[1] + mCol[2].mF32[0] * inV.mF32[2] + mCol[3].mF32[0],
        mCol[0].mF32[1] * inV.mF32[0] + mCol[1].mF32[1] * inV.mF32[1] + mCol[2].mF32[1] * inV.mF32[2] + mCol[3].mF32[1],
        mCol[0].mF32[2] * inV.mF32[0] + mCol[1].mF32[2] * inV.mF32[1] + mCol[2].mF32[2] * inV.mF32[2] + mCol[3].mF32[2]);
#endif
}
 
Vec4 Mat44::operator * (Vec4Arg inV) const
{
#if defined(JPH_USE_SSE)
    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(0, 0, 0, 0)));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(1, 1, 1, 1))));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(2, 2, 2, 2))));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[3].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(3, 3, 3, 3))));
    return t;
#elif defined(JPH_USE_NEON)
    Type t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.mValue, 0));
    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.mValue, 1));
    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.mValue, 2));
    t = vmlaq_f32(t, mCol[3].mValue, vdupq_laneq_f32(inV.mValue, 3));
    return t;
#else
    return Vec4(
        mCol[0].mF32[0] * inV.mF32[0] + mCol[1].mF32[0] * inV.mF32[1] + mCol[2].mF32[0] * inV.mF32[2] + mCol[3].mF32[0] * inV.mF32[3],
        mCol[0].mF32[1] * inV.mF32[0] + mCol[1].mF32[1] * inV.mF32[1] + mCol[2].mF32[1] * inV.mF32[2] + mCol[3].mF32[1] * inV.mF32[3],
        mCol[0].mF32[2] * inV.mF32[0] + mCol[1].mF32[2] * inV.mF32[1] + mCol[2].mF32[2] * inV.mF32[2] + mCol[3].mF32[2] * inV.mF32[3],
        mCol[0].mF32[3] * inV.mF32[0] + mCol[1].mF32[3] * inV.mF32[1] + mCol[2].mF32[3] * inV.mF32[2] + mCol[3].mF32[3] * inV.mF32[3]);
#endif
}
 
Vec3 Mat44::Multiply3x3(Vec3Arg inV) const
{
#if defined(JPH_USE_SSE)
    __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(0, 0, 0, 0)));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(1, 1, 1, 1))));
    t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(inV.mValue, inV.mValue, _MM_SHUFFLE(2, 2, 2, 2))));
    return Vec3::sFixW(t);
#elif defined(JPH_USE_NEON)
    Type t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(inV.mValue, 0));
    t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(inV.mValue, 1));
    t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(inV.mValue, 2));
    return Vec3::sFixW(t);
#else
    return Vec3(
        mCol[0].mF32[0] * inV.mF32[0] + mCol[1].mF32[0] * inV.mF32[1] + mCol[2].mF32[0] * inV.mF32[2],
        mCol[0].mF32[1] * inV.mF32[0] + mCol[1].mF32[1] * inV.mF32[1] + mCol[2].mF32[1] * inV.mF32[2],
        mCol[0].mF32[2] * inV.mF32[0] + mCol[1].mF32[2] * inV.mF32[1] + mCol[2].mF32[2] * inV.mF32[2]);
#endif
}
 
Vec3 Mat44::Multiply3x3Transposed(Vec3Arg inV) const
{
#if defined(JPH_USE_SSE4_1)
    __m128 x = _mm_dp_ps(mCol[0].mValue, inV.mValue, 0x7f);
    __m128 y = _mm_dp_ps(mCol[1].mValue, inV.mValue, 0x7f);
    __m128 xy = _mm_blend_ps(x, y, 0b0010);
    __m128 z = _mm_dp_ps(mCol[2].mValue, inV.mValue, 0x7f);
    __m128 xyzz = _mm_blend_ps(xy, z, 0b1100);
    return xyzz;
#else
    return Transposed3x3().Multiply3x3(inV);
#endif
}
 
Mat44 Mat44::Multiply3x3(Mat44Arg inM) const
{
    JPH_ASSERT(mCol[0][3] == 0.0f);
    JPH_ASSERT(mCol[1][3] == 0.0f);
    JPH_ASSERT(mCol[2][3] == 0.0f);
 
    Mat44 result;
#if defined(JPH_USE_SSE)
    for (int i = 0; i < 3; ++i)
    {
        __m128 c = inM.mCol[i].mValue;
        __m128 t = _mm_mul_ps(mCol[0].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)));
        t = _mm_add_ps(t, _mm_mul_ps(mCol[1].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1))));
        t = _mm_add_ps(t, _mm_mul_ps(mCol[2].mValue, _mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2))));
        result.mCol[i].mValue = t;
    }
#elif defined(JPH_USE_NEON)
    for (int i = 0; i < 3; ++i)
    {
        Type c = inM.mCol[i].mValue;
        Type t = vmulq_f32(mCol[0].mValue, vdupq_laneq_f32(c, 0));
        t = vmlaq_f32(t, mCol[1].mValue, vdupq_laneq_f32(c, 1));
        t = vmlaq_f32(t, mCol[2].mValue, vdupq_laneq_f32(c, 2));
        result.mCol[i].mValue = t;
    }
#else
    for (int i = 0; i < 3; ++i)
        result.mCol[i] = mCol[0] * inM.mCol[i].mF32[0] + mCol[1] * inM.mCol[i].mF32[1] + mCol[2] * inM.mCol[i].mF32[2];
#endif
    result.mCol[3] = Vec4(0, 0, 0, 1);
    return result;
}
 
Mat44 Mat44::Multiply3x3LeftTransposed(Mat44Arg inM) const
{
    // Transpose left hand side
    Mat44 trans = Transposed3x3();
 
    // Do 3x3 matrix multiply
    Mat44 result;
    result.mCol[0] = trans.mCol[0] * inM.mCol[0].SplatX() + trans.mCol[1] * inM.mCol[0].SplatY() + trans.mCol[2] * inM.mCol[0].SplatZ();
    result.mCol[1] = trans.mCol[0] * inM.mCol[1].SplatX() + trans.mCol[1] * inM.mCol[1].SplatY() + trans.mCol[2] * inM.mCol[1].SplatZ();
    result.mCol[2] = trans.mCol[0] * inM.mCol[2].SplatX() + trans.mCol[1] * inM.mCol[2].SplatY() + trans.mCol[2] * inM.mCol[2].SplatZ();
    result.mCol[3] = Vec4(0, 0, 0, 1);
    return result;
}
 
Mat44 Mat44::Multiply3x3RightTransposed(Mat44Arg inM) const
{
    JPH_ASSERT(mCol[0][3] == 0.0f);
    JPH_ASSERT(mCol[1][3] == 0.0f);
    JPH_ASSERT(mCol[2][3] == 0.0f);
 
    Mat44 result;
    result.mCol[0] = mCol[0] * inM.mCol[0].SplatX() + mCol[1] * inM.mCol[1].SplatX() + mCol[2] * inM.mCol[2].SplatX();
    result.mCol[1] = mCol[0] * inM.mCol[0].SplatY() + mCol[1] * inM.mCol[1].SplatY() + mCol[2] * inM.mCol[2].SplatY();
    result.mCol[2] = mCol[0] * inM.mCol[0].SplatZ() + mCol[1] * inM.mCol[1].SplatZ() + mCol[2] * inM.mCol[2].SplatZ();
    result.mCol[3] = Vec4(0, 0, 0, 1);
    return result;
}
 
Mat44 Mat44::operator * (float inV) const
{
    Vec4 multiplier = Vec4::sReplicate(inV);
 
    Mat44 result;
    for (int c = 0; c < 4; ++c)
        result.mCol[c] = mCol[c] * multiplier;
    return result;
}
 
Mat44 &Mat44::operator *= (float inV)
{
    for (int c = 0; c < 4; ++c)
        mCol[c] *= inV;
 
    return *this;
}
 
Mat44 Mat44::operator + (Mat44Arg inM) const
{
    Mat44 result;
    for (int i = 0; i < 4; ++i)
        result.mCol[i] = mCol[i] + inM.mCol[i];
    return result;
}
 
Mat44 Mat44::operator - () const
{
    Mat44 result;
    for (int i = 0; i < 4; ++i)
        result.mCol[i] = -mCol[i];
    return result;
}
 
Mat44 Mat44::operator - (Mat44Arg inM) const
{
    Mat44 result;
    for (int i = 0; i < 4; ++i)
        result.mCol[i] = mCol[i] - inM.mCol[i];
    return result;
}
 
Mat44 &Mat44::operator += (Mat44Arg inM)
{
    for (int c = 0; c < 4; ++c)
        mCol[c] += inM.mCol[c];
 
    return *this;
}
 
void Mat44::StoreFloat4x4(Float4 *outV) const
{
    for (int c = 0; c < 4; ++c)
        mCol[c].StoreFloat4(outV + c);
}
 
Mat44 Mat44::Transposed() const
{
#if defined(JPH_USE_SSE)
    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 tmp3 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));
    __m128 tmp2 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 tmp4 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(3, 2, 3, 2));
 
    Mat44 result;
    result.mCol[0].mValue = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(2, 0, 2, 0));
    result.mCol[1].mValue = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(3, 1, 3, 1));
    result.mCol[2].mValue = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(2, 0, 2, 0));
    result.mCol[3].mValue = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(3, 1, 3, 1));
    return result;
#elif defined(JPH_USE_NEON)
    float32x4x2_t tmp1 = vzipq_f32(mCol[0].mValue, mCol[2].mValue);
    float32x4x2_t tmp2 = vzipq_f32(mCol[1].mValue, mCol[3].mValue);
    float32x4x2_t tmp3 = vzipq_f32(tmp1.val[0], tmp2.val[0]);
    float32x4x2_t tmp4 = vzipq_f32(tmp1.val[1], tmp2.val[1]);
 
    Mat44 result;
    result.mCol[0].mValue = tmp3.val[0];
    result.mCol[1].mValue = tmp3.val[1];
    result.mCol[2].mValue = tmp4.val[0];
    result.mCol[3].mValue = tmp4.val[1];
    return result;
#else
    Mat44 result;
    for (int c = 0; c < 4; ++c)
        for (int r = 0; r < 4; ++r)
            result.mCol[r].mF32[c] = mCol[c].mF32[r];
    return result;
#endif
}
 
Mat44 Mat44::Transposed3x3() const
{
#if defined(JPH_USE_SSE)
    __m128 zero = _mm_setzero_ps();
    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 tmp3 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));
    __m128 tmp2 = _mm_shuffle_ps(mCol[2].mValue, zero, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 tmp4 = _mm_shuffle_ps(mCol[2].mValue, zero, _MM_SHUFFLE(3, 2, 3, 2));
 
    Mat44 result;
    result.mCol[0].mValue = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(2, 0, 2, 0));
    result.mCol[1].mValue = _mm_shuffle_ps(tmp1, tmp2, _MM_SHUFFLE(3, 1, 3, 1));
    result.mCol[2].mValue = _mm_shuffle_ps(tmp3, tmp4, _MM_SHUFFLE(2, 0, 2, 0));
#elif defined(JPH_USE_NEON)
    float32x4x2_t tmp1 = vzipq_f32(mCol[0].mValue, mCol[2].mValue);
    float32x4x2_t tmp2 = vzipq_f32(mCol[1].mValue, vdupq_n_f32(0));
    float32x4x2_t tmp3 = vzipq_f32(tmp1.val[0], tmp2.val[0]);
    float32x4x2_t tmp4 = vzipq_f32(tmp1.val[1], tmp2.val[1]);
 
    Mat44 result;
    result.mCol[0].mValue = tmp3.val[0];
    result.mCol[1].mValue = tmp3.val[1];
    result.mCol[2].mValue = tmp4.val[0];
#else
    Mat44 result;
    for (int c = 0; c < 3; ++c)
    {
        for (int r = 0; r < 3; ++r)
            result.mCol[c].mF32[r] = mCol[r].mF32[c];
        result.mCol[c].mF32[3] = 0;
    }
#endif
    result.mCol[3] = Vec4(0, 0, 0, 1);
    return result;
}
 
Mat44 Mat44::Inversed() const
{
#if defined(JPH_USE_SSE)
    // Algorithm from: http://download.intel.com/design/PentiumIII/sml/24504301.pdf
    // Streaming SIMD Extensions - Inverse of 4x4 Matrix
    // Adapted to load data using _mm_shuffle_ps instead of loading from memory
    // Replaced _mm_rcp_ps with _mm_div_ps for better accuracy
 
    __m128 tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 row1 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(1, 0, 1, 0));
    __m128 row0 = _mm_shuffle_ps(tmp1, row1, _MM_SHUFFLE(2, 0, 2, 0));
    row1 = _mm_shuffle_ps(row1, tmp1, _MM_SHUFFLE(3, 1, 3, 1));
    tmp1 = _mm_shuffle_ps(mCol[0].mValue, mCol[1].mValue, _MM_SHUFFLE(3, 2, 3, 2));
    __m128 row3 = _mm_shuffle_ps(mCol[2].mValue, mCol[3].mValue, _MM_SHUFFLE(3, 2, 3, 2));
    __m128 row2 = _mm_shuffle_ps(tmp1, row3, _MM_SHUFFLE(2, 0, 2, 0));
    row3 = _mm_shuffle_ps(row3, tmp1, _MM_SHUFFLE(3, 1, 3, 1));
 
    tmp1 = _mm_mul_ps(row2, row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    __m128 minor0 = _mm_mul_ps(row1, tmp1);
    __m128 minor1 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0);
    minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1);
    minor1 = _mm_shuffle_ps(minor1, minor1, _MM_SHUFFLE(1, 0, 3, 2));
 
    tmp1 = _mm_mul_ps(row1, row2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0);
    __m128 minor3 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1));
    minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3);
    minor3 = _mm_shuffle_ps(minor3, minor3, _MM_SHUFFLE(1, 0, 3, 2));
 
    tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, _MM_SHUFFLE(1, 0, 3, 2)), row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    row2 = _mm_shuffle_ps(row2, row2, _MM_SHUFFLE(1, 0, 3, 2));
    minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0);
    __m128 minor2 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1));
    minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2);
    minor2 = _mm_shuffle_ps(minor2, minor2, _MM_SHUFFLE(1, 0, 3, 2));
 
    tmp1 = _mm_mul_ps(row0, row1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2);
    minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2);
    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1));
 
    tmp1 = _mm_mul_ps(row0, row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1));
    minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1);
    minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1));
 
    tmp1 = _mm_mul_ps(row0, row2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(2, 3, 0, 1));
    minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1);
    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1));
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(1, 0, 3, 2));
    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1));
    minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3);
 
    __m128 det = _mm_mul_ps(row0, minor0);
    det = _mm_add_ps(_mm_shuffle_ps(det, det, _MM_SHUFFLE(2, 3, 0, 1)), det); // 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
    det = _mm_add_ss(_mm_shuffle_ps(det, det, _MM_SHUFFLE(1, 0, 3, 2)), det);
    det = _mm_div_ss(_mm_set_ss(1.0f), det);
    det = _mm_shuffle_ps(det, det, _MM_SHUFFLE(0, 0, 0, 0));
 
    Mat44 result;
    result.mCol[0].mValue = _mm_mul_ps(det, minor0);
    result.mCol[1].mValue = _mm_mul_ps(det, minor1);
    result.mCol[2].mValue = _mm_mul_ps(det, minor2);
    result.mCol[3].mValue = _mm_mul_ps(det, minor3);
    return result;
#elif defined(JPH_USE_NEON)
    // Adapted from the SSE version, there's surprising few articles about efficient ways of calculating an inverse for ARM on the internet
    Type tmp1 = JPH_NEON_SHUFFLE_F32x4(mCol[0].mValue, mCol[1].mValue, 0, 1, 4, 5);
    Type row1 = JPH_NEON_SHUFFLE_F32x4(mCol[2].mValue, mCol[3].mValue, 0, 1, 4, 5);
    Type row0 = JPH_NEON_SHUFFLE_F32x4(tmp1, row1, 0, 2, 4, 6);
    row1 = JPH_NEON_SHUFFLE_F32x4(row1, tmp1, 1, 3, 5, 7);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(mCol[0].mValue, mCol[1].mValue, 2, 3, 6, 7);
    Type row3 = JPH_NEON_SHUFFLE_F32x4(mCol[2].mValue, mCol[3].mValue, 2, 3, 6, 7);
    Type row2 = JPH_NEON_SHUFFLE_F32x4(tmp1, row3, 0, 2, 4, 6);
    row3 = JPH_NEON_SHUFFLE_F32x4(row3, tmp1, 1, 3, 5, 7);
 
    tmp1 = vmulq_f32(row2, row3);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    Type minor0 = vmulq_f32(row1, tmp1);
    Type minor1 = vmulq_f32(row0, tmp1);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor0 = vsubq_f32(vmulq_f32(row1, tmp1), minor0);
    minor1 = vsubq_f32(vmulq_f32(row0, tmp1), minor1);
    minor1 = JPH_NEON_SHUFFLE_F32x4(minor1, minor1, 2, 3, 0, 1);
 
    tmp1 = vmulq_f32(row1, row2);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    minor0 = vaddq_f32(vmulq_f32(row3, tmp1), minor0);
    Type minor3 = vmulq_f32(row0, tmp1);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor0 = vsubq_f32(minor0, vmulq_f32(row3, tmp1));
    minor3 = vsubq_f32(vmulq_f32(row0, tmp1), minor3);
    minor3 = JPH_NEON_SHUFFLE_F32x4(minor3, minor3, 2, 3, 0, 1);
 
    tmp1 = JPH_NEON_SHUFFLE_F32x4(row1, row1, 2, 3, 0, 1);
    tmp1 = vmulq_f32(tmp1, row3);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    row2 = JPH_NEON_SHUFFLE_F32x4(row2, row2, 2, 3, 0, 1);
    minor0 = vaddq_f32(vmulq_f32(row2, tmp1), minor0);
    Type minor2 = vmulq_f32(row0, tmp1);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor0 = vsubq_f32(minor0, vmulq_f32(row2, tmp1));
    minor2 = vsubq_f32(vmulq_f32(row0, tmp1), minor2);
    minor2 = JPH_NEON_SHUFFLE_F32x4(minor2, minor2, 2, 3, 0, 1);
 
    tmp1 = vmulq_f32(row0, row1);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    minor2 = vaddq_f32(vmulq_f32(row3, tmp1), minor2);
    minor3 = vsubq_f32(vmulq_f32(row2, tmp1), minor3);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor2 = vsubq_f32(vmulq_f32(row3, tmp1), minor2);
    minor3 = vsubq_f32(minor3, vmulq_f32(row2, tmp1));
 
    tmp1 = vmulq_f32(row0, row3);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    minor1 = vsubq_f32(minor1, vmulq_f32(row2, tmp1));
    minor2 = vaddq_f32(vmulq_f32(row1, tmp1), minor2);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor1 = vaddq_f32(vmulq_f32(row2, tmp1), minor1);
    minor2 = vsubq_f32(minor2, vmulq_f32(row1, tmp1));
 
    tmp1 = vmulq_f32(row0, row2);
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 1, 0, 3, 2);
    minor1 = vaddq_f32(vmulq_f32(row3, tmp1), minor1);
    minor3 = vsubq_f32(minor3, vmulq_f32(row1, tmp1));
    tmp1 = JPH_NEON_SHUFFLE_F32x4(tmp1, tmp1, 2, 3, 0, 1);
    minor1 = vsubq_f32(minor1, vmulq_f32(row3, tmp1));
    minor3 = vaddq_f32(vmulq_f32(row1, tmp1), minor3);
 
    Type det = vmulq_f32(row0, minor0);
    det = vdupq_n_f32(vaddvq_f32(det));
    det = vdivq_f32(vdupq_n_f32(1.0f), det);
 
    Mat44 result;
    result.mCol[0].mValue = vmulq_f32(det, minor0);
    result.mCol[1].mValue = vmulq_f32(det, minor1);
    result.mCol[2].mValue = vmulq_f32(det, minor2);
    result.mCol[3].mValue = vmulq_f32(det, minor3);
    return result;
#else
    float m00 = JPH_EL(0, 0), m10 = JPH_EL(1, 0), m20 = JPH_EL(2, 0), m30 = JPH_EL(3, 0);
    float m01 = JPH_EL(0, 1), m11 = JPH_EL(1, 1), m21 = JPH_EL(2, 1), m31 = JPH_EL(3, 1);
    float m02 = JPH_EL(0, 2), m12 = JPH_EL(1, 2), m22 = JPH_EL(2, 2), m32 = JPH_EL(3, 2);
    float m03 = JPH_EL(0, 3), m13 = JPH_EL(1, 3), m23 = JPH_EL(2, 3), m33 = JPH_EL(3, 3);
 
    float m10211120 = m10 * m21 - m11 * m20;
    float m10221220 = m10 * m22 - m12 * m20;
    float m10231320 = m10 * m23 - m13 * m20;
    float m10311130 = m10 * m31 - m11 * m30;
    float m10321230 = m10 * m32 - m12 * m30;
    float m10331330 = m10 * m33 - m13 * m30;
    float m11221221 = m11 * m22 - m12 * m21;
    float m11231321 = m11 * m23 - m13 * m21;
    float m11321231 = m11 * m32 - m12 * m31;
    float m11331331 = m11 * m33 - m13 * m31;
    float m12231322 = m12 * m23 - m13 * m22;
    float m12331332 = m12 * m33 - m13 * m32;
    float m20312130 = m20 * m31 - m21 * m30;
    float m20322230 = m20 * m32 - m22 * m30;
    float m20332330 = m20 * m33 - m23 * m30;
    float m21322231 = m21 * m32 - m22 * m31;
    float m21332331 = m21 * m33 - m23 * m31;
    float m22332332 = m22 * m33 - m23 * m32;
 
    Vec4 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);
    Vec4 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);
    Vec4 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);
    Vec4 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);
 
    float det = m00 * col0.mF32[0] + m01 * col0.mF32[1] + m02 * col0.mF32[2] + m03 * col0.mF32[3];
 
    return Mat44(col0 / det, col1 / det, col2 / det, col3 / det);
#endif
}
 
Mat44 Mat44::InversedRotationTranslation() const
{
    Mat44 m = Transposed3x3();
    m.SetTranslation(-m.Multiply3x3(GetTranslation()));
    return m;
}
 
float Mat44::GetDeterminant3x3() const
{
    return GetAxisX().Dot(GetAxisY().Cross(GetAxisZ()));
}
 
Mat44 Mat44::Adjointed3x3() const
{
    return Mat44(
        Vec4(JPH_EL(1, 1), JPH_EL(1, 2), JPH_EL(1, 0), 0) * Vec4(JPH_EL(2, 2), JPH_EL(2, 0), JPH_EL(2, 1), 0)
            - Vec4(JPH_EL(1, 2), JPH_EL(1, 0), JPH_EL(1, 1), 0) * Vec4(JPH_EL(2, 1), JPH_EL(2, 2), JPH_EL(2, 0), 0),
        Vec4(JPH_EL(0, 2), JPH_EL(0, 0), JPH_EL(0, 1), 0) * Vec4(JPH_EL(2, 1), JPH_EL(2, 2), JPH_EL(2, 0), 0)
            - Vec4(JPH_EL(0, 1), JPH_EL(0, 2), JPH_EL(0, 0), 0) * Vec4(JPH_EL(2, 2), JPH_EL(2, 0), JPH_EL(2, 1), 0),
        Vec4(JPH_EL(0, 1), JPH_EL(0, 2), JPH_EL(0, 0), 0) * Vec4(JPH_EL(1, 2), JPH_EL(1, 0), JPH_EL(1, 1), 0)
            - Vec4(JPH_EL(0, 2), JPH_EL(0, 0), JPH_EL(0, 1), 0) * Vec4(JPH_EL(1, 1), JPH_EL(1, 2), JPH_EL(1, 0), 0),
        Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::Inversed3x3() const
{
    float det = GetDeterminant3x3();
 
    return Mat44(
        (Vec4(JPH_EL(1, 1), JPH_EL(1, 2), JPH_EL(1, 0), 0) * Vec4(JPH_EL(2, 2), JPH_EL(2, 0), JPH_EL(2, 1), 0)
            - Vec4(JPH_EL(1, 2), JPH_EL(1, 0), JPH_EL(1, 1), 0) * Vec4(JPH_EL(2, 1), JPH_EL(2, 2), JPH_EL(2, 0), 0)) / det,
        (Vec4(JPH_EL(0, 2), JPH_EL(0, 0), JPH_EL(0, 1), 0) * Vec4(JPH_EL(2, 1), JPH_EL(2, 2), JPH_EL(2, 0), 0)
            - Vec4(JPH_EL(0, 1), JPH_EL(0, 2), JPH_EL(0, 0), 0) * Vec4(JPH_EL(2, 2), JPH_EL(2, 0), JPH_EL(2, 1), 0)) / det,
        (Vec4(JPH_EL(0, 1), JPH_EL(0, 2), JPH_EL(0, 0), 0) * Vec4(JPH_EL(1, 2), JPH_EL(1, 0), JPH_EL(1, 1), 0)
            - Vec4(JPH_EL(0, 2), JPH_EL(0, 0), JPH_EL(0, 1), 0) * Vec4(JPH_EL(1, 1), JPH_EL(1, 2), JPH_EL(1, 0), 0)) / det,
        Vec4(0, 0, 0, 1));
}
 
bool Mat44::SetInversed3x3(Mat44Arg inM)
{
    float det = inM.GetDeterminant3x3();
 
    // If the determinant is zero the matrix is singular and we return false
    if (det == 0.0f)
        return false;
 
    // Finish calculating the inverse
    *this = inM.Adjointed3x3();
    mCol[0] /= det;
    mCol[1] /= det;
    mCol[2] /= det;
    return true;
}
 
Quat Mat44::GetQuaternion() const
{
    float tr = mCol[0].mF32[0] + mCol[1].mF32[1] + mCol[2].mF32[2];
 
    if (tr >= 0.0f)
    {
        float s = sqrt(tr + 1.0f);
        float is = 0.5f / s;
        return Quat(
            (mCol[1].mF32[2] - mCol[2].mF32[1]) * is,
            (mCol[2].mF32[0] - mCol[0].mF32[2]) * is,
            (mCol[0].mF32[1] - mCol[1].mF32[0]) * is,
            0.5f * s);
    }
    else
    {
        int i = 0;
        if (mCol[1].mF32[1] > mCol[0].mF32[0]) i = 1;
        if (mCol[2].mF32[2] > mCol[i].mF32[i]) i = 2;
 
        if (i == 0)
        {
            float s = sqrt(mCol[0].mF32[0] - (mCol[1].mF32[1] + mCol[2].mF32[2]) + 1);
            float is = 0.5f / s;
            return Quat(
                0.5f * s,
                (mCol[1].mF32[0] + mCol[0].mF32[1]) * is,
                (mCol[0].mF32[2] + mCol[2].mF32[0]) * is,
                (mCol[1].mF32[2] - mCol[2].mF32[1]) * is);
        }
        else if (i == 1)
        {
            float s = sqrt(mCol[1].mF32[1] - (mCol[2].mF32[2] + mCol[0].mF32[0]) + 1);
            float is = 0.5f / s;
            return Quat(
                (mCol[1].mF32[0] + mCol[0].mF32[1]) * is,
                0.5f * s,
                (mCol[2].mF32[1] + mCol[1].mF32[2]) * is,
                (mCol[2].mF32[0] - mCol[0].mF32[2]) * is);
        }
        else
        {
            JPH_ASSERT(i == 2);
 
            float s = sqrt(mCol[2].mF32[2] - (mCol[0].mF32[0] + mCol[1].mF32[1]) + 1);
            float is = 0.5f / s;
            return Quat(
                (mCol[0].mF32[2] + mCol[2].mF32[0]) * is,
                (mCol[2].mF32[1] + mCol[1].mF32[2]) * is,
                0.5f * s,
                (mCol[0].mF32[1] - mCol[1].mF32[0]) * is);
        }
    }
}
 
Mat44 Mat44::sQuatLeftMultiply(QuatArg inQ)
{
    return Mat44(
        Vec4(1, 1, -1, -1) * inQ.mValue.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>(),
        Vec4(-1, 1, 1, -1) * inQ.mValue.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>(),
        Vec4(1, -1, 1, -1) * inQ.mValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>(),
        inQ.mValue);
}
 
Mat44 Mat44::sQuatRightMultiply(QuatArg inQ)
{
    return Mat44(
        Vec4(1, -1, 1, -1) * inQ.mValue.Swizzle<SWIZZLE_W, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_X>(),
        Vec4(1, 1, -1, -1) * inQ.mValue.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>(),
        Vec4(-1, 1, 1, -1) * inQ.mValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>(),
        inQ.mValue);
}
 
Mat44 Mat44::GetRotation() const
{
    JPH_ASSERT(mCol[0][3] == 0.0f);
    JPH_ASSERT(mCol[1][3] == 0.0f);
    JPH_ASSERT(mCol[2][3] == 0.0f);
 
    return Mat44(mCol[0], mCol[1], mCol[2], Vec4(0, 0, 0, 1));
}
 
Mat44 Mat44::GetRotationSafe() const
{
#if defined(JPH_USE_AVX512)
    return Mat44(_mm_maskz_mov_ps(0b0111, mCol[0].mValue),
                 _mm_maskz_mov_ps(0b0111, mCol[1].mValue),
                 _mm_maskz_mov_ps(0b0111, mCol[2].mValue),
                 Vec4(0, 0, 0, 1));
#elif defined(JPH_USE_SSE4_1)
    __m128 zero = _mm_setzero_ps();
    return Mat44(_mm_blend_ps(mCol[0].mValue, zero, 8),
                 _mm_blend_ps(mCol[1].mValue, zero, 8),
                 _mm_blend_ps(mCol[2].mValue, zero, 8),
                 Vec4(0, 0, 0, 1));
#elif defined(JPH_USE_NEON)
    return Mat44(vsetq_lane_f32(0, mCol[0].mValue, 3),
                 vsetq_lane_f32(0, mCol[1].mValue, 3),
                 vsetq_lane_f32(0, mCol[2].mValue, 3),
                 Vec4(0, 0, 0, 1));
#else
    return Mat44(Vec4(mCol[0].mF32[0], mCol[0].mF32[1], mCol[0].mF32[2], 0),
                 Vec4(mCol[1].mF32[0], mCol[1].mF32[1], mCol[1].mF32[2], 0),
                 Vec4(mCol[2].mF32[0], mCol[2].mF32[1], mCol[2].mF32[2], 0),
                 Vec4(0, 0, 0, 1));
#endif
}
 
void Mat44::SetRotation(Mat44Arg inRotation)
{
    mCol[0] = inRotation.mCol[0];
    mCol[1] = inRotation.mCol[1];
    mCol[2] = inRotation.mCol[2];
}
 
Mat44 Mat44::PreTranslated(Vec3Arg inTranslation) const
{
    return Mat44(mCol[0], mCol[1], mCol[2], Vec4(GetTranslation() + Multiply3x3(inTranslation), 1));
}
 
Mat44 Mat44::PostTranslated(Vec3Arg inTranslation) const
{
    return Mat44(mCol[0], mCol[1], mCol[2], Vec4(GetTranslation() + inTranslation, 1));
}
 
Mat44 Mat44::PreScaled(Vec3Arg inScale) const
{
    return Mat44(inScale.GetX() * mCol[0], inScale.GetY() * mCol[1], inScale.GetZ() * mCol[2], mCol[3]);
}
 
Mat44 Mat44::PostScaled(Vec3Arg inScale) const
{
    Vec4 scale(inScale, 1);
    return Mat44(scale * mCol[0], scale * mCol[1], scale * mCol[2], scale * mCol[3]);
}
 
Mat44 Mat44::Decompose(Vec3 &outScale) const
{
    // Start the modified Gram-Schmidt algorithm
    // X axis will just be normalized
    Vec3 x = GetAxisX();
 
    // Make Y axis perpendicular to X
    Vec3 y = GetAxisY();
    float x_dot_x = x.LengthSq();
    y -= (x.Dot(y) / x_dot_x) * x;
 
    // Make Z axis perpendicular to X
    Vec3 z = GetAxisZ();
    z -= (x.Dot(z) / x_dot_x) * x;
 
    // Make Z axis perpendicular to Y
    float y_dot_y = y.LengthSq();
    z -= (y.Dot(z) / y_dot_y) * y;
 
    // Determine the scale
    float z_dot_z = z.LengthSq();
    outScale = Vec3(x_dot_x, y_dot_y, z_dot_z).Sqrt();
 
    // If the resulting x, y and z vectors don't form a right handed matrix, flip the z axis.
    if (x.Cross(y).Dot(z) < 0.0f)
        outScale.SetZ(-outScale.GetZ());
 
    // Determine the rotation and translation
    return Mat44(Vec4(x / outScale.GetX(), 0), Vec4(y / outScale.GetY(), 0), Vec4(z / outScale.GetZ(), 0), GetColumn4(3));
}
 
#undef JPH_EL
 
JPH_NAMESPACE_END