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public/mathlib/ssecholesky.h

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+//========= Copyright c 1996-2009, Valve Corporation, All rights reserved. ============//
+//
+// Purpose: 
+//
+// $NoKeywords: $
+//
+//=============================================================================//
+#ifndef SSE_CHOLESKY_HDR
+#define SSE_CHOLESKY_HDR
+
+#include "mathlib/vector.h"
+#include "mathlib/mathlib.h"
+#include "mathlib/ssemath.h"
+
+// This class holds cholesky decomposition of Four 3x3 matrices
+struct SimdCholesky3x3_t
+{
+	/// lower diagonal matrix L such that LL' = input matrix
+	fltx4 m_10, m_20, m_21; // These are off-diagonals used in compuations
+	fltx4 m_inv00, m_inv11, m_inv22; // These are reciprocals of diagonals used in all computations
+public:
+	/// @group Construction and initialization {
+	SimdCholesky3x3_t( const fltx4 &a00, const fltx4 & a10, const fltx4 & a11, const fltx4 & a20, const fltx4 & a21, const fltx4 & a22 )
+	{
+		Init( a00, a10, a11, a20, a21, a22 );
+	}
+	void Init( const fltx4 & a00, const fltx4 & a10, const fltx4 & a11, const fltx4 & a20, const fltx4 & a21, const fltx4 & a22 );
+
+	//@}
+
+	bool IsValid( )const ;
+	fltx4 GetValidMask( )const;
+
+	const FourVectors SolveRight( const FourVectors &b );
+	const FourVectors SolveLeft( const FourVectors &b );
+
+	/// Using this decomposition LL', solve the following equation and return the result: LL' x = rhs
+	const FourVectors Solve( const FourVectors &rhs )
+	{
+		// L R x =           b
+		//   R x =      L^-1 b
+		//     x = R^-1 L^-1 b
+		return SolveRight( SolveLeft( rhs ) );
+	}
+};
+
+
+
+#endif