scufpong/subprojects/scufeng/include/cglm/simd/sse2/mat4.h

/*
 * Copyright (c), Recep Aslantas.
 *
 * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

#ifndef cglm_mat_sse_h
#define cglm_mat_sse_h
#if defined( __SSE__ ) || defined( __SSE2__ )

#include "../../common.h"
#include "../intrin.h"

#define glm_mat4_inv_precise_sse2(mat, dest) glm_mat4_inv_sse2(mat, dest)

CGLM_INLINE
void
glm_mat4_scale_sse2(mat4 m, float s) {
  __m128 x0;
  x0 = glmm_set1(s);

  glmm_store(m[0], _mm_mul_ps(glmm_load(m[0]), x0));
  glmm_store(m[1], _mm_mul_ps(glmm_load(m[1]), x0));
  glmm_store(m[2], _mm_mul_ps(glmm_load(m[2]), x0));
  glmm_store(m[3], _mm_mul_ps(glmm_load(m[3]), x0));
}

CGLM_INLINE
void
glm_mat4_transp_sse2(mat4 m, mat4 dest) {
  __m128 r0, r1, r2, r3;

  r0 = glmm_load(m[0]);
  r1 = glmm_load(m[1]);
  r2 = glmm_load(m[2]);
  r3 = glmm_load(m[3]);

  _MM_TRANSPOSE4_PS(r0, r1, r2, r3);

  glmm_store(dest[0], r0);
  glmm_store(dest[1], r1);
  glmm_store(dest[2], r2);
  glmm_store(dest[3], r3);
}

CGLM_INLINE
void
glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */

  glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;

  l  = glmm_load(m1[0]);
  r0 = glmm_load(m2[0]);
  r1 = glmm_load(m2[1]);
  r2 = glmm_load(m2[2]);
  r3 = glmm_load(m2[3]);

  v0 = _mm_mul_ps(glmm_splat_x(r0), l);
  v1 = _mm_mul_ps(glmm_splat_x(r1), l);
  v2 = _mm_mul_ps(glmm_splat_x(r2), l);
  v3 = _mm_mul_ps(glmm_splat_x(r3), l);

  l  = glmm_load(m1[1]);
  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
  v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);

  l  = glmm_load(m1[2]);
  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
  v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);

  l  = glmm_load(m1[3]);
  v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
  v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
  v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
  v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);

  glmm_store(dest[0], v0);
  glmm_store(dest[1], v1);
  glmm_store(dest[2], v2);
  glmm_store(dest[3], v3);
}

CGLM_INLINE
void
glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
  __m128 x0, x1, m0, m1, m2, m3, v0, v1, v2, v3;

  m0 = glmm_load(m[0]);
  m1 = glmm_load(m[1]);
  m2 = glmm_load(m[2]);
  m3 = glmm_load(m[3]);

  x0 = glmm_load(v);
  v0 = glmm_splat_x(x0);
  v1 = glmm_splat_y(x0);
  v2 = glmm_splat_z(x0);
  v3 = glmm_splat_w(x0);

  x1 = _mm_mul_ps(m3, v3);
  x1 = glmm_fmadd(m2, v2, x1);
  x1 = glmm_fmadd(m1, v1, x1);
  x1 = glmm_fmadd(m0, v0, x1);

  glmm_store(dest, x1);
}

CGLM_INLINE
float
glm_mat4_det_sse2(mat4 mat) {
  __m128 r0, r1, r2, r3, x0, x1, x2;

  /* 127 <- 0, [square] det(A) = det(At) */
  r0 = glmm_load(mat[0]); /* d c b a */
  r1 = glmm_load(mat[1]); /* h g f e */
  r2 = glmm_load(mat[2]); /* l k j i */
  r3 = glmm_load(mat[3]); /* p o n m */

  /*
   t[1] = j * p - n * l;
   t[2] = j * o - n * k;
   t[3] = i * p - m * l;
   t[4] = i * o - m * k;
   */
  x0 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 1, 1), glmm_shuff1(r2, 2, 3, 2, 3),
                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
                              glmm_shuff1(r3, 2, 3, 2, 3)));
  /*
   t[0] = k * p - o * l;
   t[0] = k * p - o * l;
   t[5] = i * n - m * j;
   t[5] = i * n - m * j;
   */
  x1 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 2, 2), glmm_shuff1(r2, 1, 1, 3, 3),
                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
                              glmm_shuff1(r3, 1, 1, 3, 3)));

  /*
     a * (f * t[0] - g * t[1] + h * t[2])
   - b * (e * t[0] - g * t[3] + h * t[4])
   + c * (e * t[1] - f * t[3] + h * t[5])
   - d * (e * t[2] - f * t[4] + g * t[5])
   */
  x2 = glmm_fnmadd(glmm_shuff1(r1, 1, 1, 2, 2), glmm_shuff1(x0, 3, 2, 2, 0),
                   _mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
                              _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))));
  x2 = glmm_fmadd(glmm_shuff1(r1, 2, 3, 3, 3),
                  _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1)),
                  x2);
  
  x2 = _mm_xor_ps(x2, glmm_float32x4_SIGNMASK_NPNP);
  
  return glmm_hadd(_mm_mul_ps(x2, r0));
}

CGLM_INLINE
void
glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;

  /* x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); */
  x8 = glmm_float32x4_SIGNMASK_NPNP;
  x9 = glmm_shuff1(x8, 2, 1, 2, 1);

  /* 127 <- 0 */
  r0 = glmm_load(mat[0]); /* d c b a */
  r1 = glmm_load(mat[1]); /* h g f e */
  r2 = glmm_load(mat[2]); /* l k j i */
  r3 = glmm_load(mat[3]); /* p o n m */
  
  x0 = _mm_movehl_ps(r3, r2);                            /* p o l k */
  x3 = _mm_movelh_ps(r2, r3);                            /* n m j i */
  x1 = glmm_shuff1(x0, 1, 3, 3 ,3);                      /* l p p p */
  x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
  x4 = glmm_shuff1(x3, 1, 3, 3, 3);                      /* j n n n */
  x7 = glmm_shuff1(x3, 0, 2, 2, 2);                      /* i m m m */

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0));  /* e e i i */
  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1));  /* f f j j */
  x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */
  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
  
  t0 = _mm_mul_ps(x3, x1);
  t1 = _mm_mul_ps(x5, x1);
  t2 = _mm_mul_ps(x5, x2);
  t3 = _mm_mul_ps(x6, x1);
  t4 = _mm_mul_ps(x6, x2);
  t5 = _mm_mul_ps(x6, x4);
  
  /* t1[0] = k * p - o * l;
     t1[0] = k * p - o * l;
     t2[0] = g * p - o * h;
     t3[0] = g * l - k * h; */
  t0 = glmm_fnmadd(x2, x0, t0);
  
  /* t1[1] = j * p - n * l;
     t1[1] = j * p - n * l;
     t2[1] = f * p - n * h;
     t3[1] = f * l - j * h; */
   t1 = glmm_fnmadd(x4, x0, t1);
  
  /* t1[2] = j * o - n * k
     t1[2] = j * o - n * k;
     t2[2] = f * o - n * g;
     t3[2] = f * k - j * g; */
  t2 = glmm_fnmadd(x4, x3, t2);
  
  /* t1[3] = i * p - m * l;
     t1[3] = i * p - m * l;
     t2[3] = e * p - m * h;
     t3[3] = e * l - i * h; */
  t3 = glmm_fnmadd(x7, x0, t3);
  
  /* t1[4] = i * o - m * k;
     t1[4] = i * o - m * k;
     t2[4] = e * o - m * g;
     t3[4] = e * k - i * g; */
  t4 = glmm_fnmadd(x7, x3, t4);
  
  /* t1[5] = i * n - m * j;
     t1[5] = i * n - m * j;
     t2[5] = e * n - m * f;
     t3[5] = e * j - i * f; */
  t5 = glmm_fnmadd(x7, x5, t5);
  
  x4 = _mm_movelh_ps(r0, r1);        /* f e b a */
  x5 = _mm_movehl_ps(r1, r0);        /* h g d c */
  
  x0 = glmm_shuff1(x4, 0, 0, 0, 2);  /* a a a e */
  x1 = glmm_shuff1(x4, 1, 1, 1, 3);  /* b b b f */
  x2 = glmm_shuff1(x5, 0, 0, 0, 2);  /* c c c g */
  x3 = glmm_shuff1(x5, 1, 1, 1, 3);  /* d d d h */
  
  v2 = _mm_mul_ps(x0, t1);
  v1 = _mm_mul_ps(x0, t0);
  v3 = _mm_mul_ps(x0, t2);
  v0 = _mm_mul_ps(x1, t0);
  
  v2 = glmm_fnmadd(x1, t3, v2);
  v3 = glmm_fnmadd(x1, t4, v3);
  v0 = glmm_fnmadd(x2, t1, v0);
  v1 = glmm_fnmadd(x2, t3, v1);
  
  v3 = glmm_fmadd(x2, t5, v3);
  v0 = glmm_fmadd(x3, t2, v0);
  v2 = glmm_fmadd(x3, t5, v2);
  v1 = glmm_fmadd(x3, t4, v1);

  /*
   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
  v0 = _mm_xor_ps(v0, x8);
  
  /*
   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
  v2 = _mm_xor_ps(v2, x8);

  /*
   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
  v1 = _mm_xor_ps(v1, x9);

  /*
   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
  v3 = _mm_xor_ps(v3, x9);

  /* determinant */
  x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
  x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

  x0 = _mm_rcp_ps(glmm_vhadd(_mm_mul_ps(x0, r0)));

  glmm_store(dest[0], _mm_mul_ps(v0, x0));
  glmm_store(dest[1], _mm_mul_ps(v1, x0));
  glmm_store(dest[2], _mm_mul_ps(v2, x0));
  glmm_store(dest[3], _mm_mul_ps(v3, x0));
}

/* old one */
#if 0
CGLM_INLINE
void
glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;

  /* x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); */
  x8 = glmm_float32x4_SIGNMASK_NPNP;
  x9 = glmm_shuff1(x8, 2, 1, 2, 1);

  /* 127 <- 0 */
  r0 = glmm_load(mat[0]); /* d c b a */
  r1 = glmm_load(mat[1]); /* h g f e */
  r2 = glmm_load(mat[2]); /* l k j i */
  r3 = glmm_load(mat[3]); /* p o n m */
  
  x0 = _mm_movehl_ps(r3, r2);                            /* p o l k */
  x3 = _mm_movelh_ps(r2, r3);                            /* n m j i */
  x1 = glmm_shuff1(x0, 1, 3, 3 ,3);                      /* l p p p */
  x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
  x4 = glmm_shuff1(x3, 1, 3, 3, 3);                      /* j n n n */
  x7 = glmm_shuff1(x3, 0, 2, 2, 2);                      /* i m m m */

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0));  /* e e i i */
  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1));  /* f f j j */
  x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */
  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
  
  t0 = _mm_mul_ps(x3, x1);
  t1 = _mm_mul_ps(x5, x1);
  t2 = _mm_mul_ps(x5, x2);
  t3 = _mm_mul_ps(x6, x1);
  t4 = _mm_mul_ps(x6, x2);
  t5 = _mm_mul_ps(x6, x4);
  
  /* t1[0] = k * p - o * l;
     t1[0] = k * p - o * l;
     t2[0] = g * p - o * h;
     t3[0] = g * l - k * h; */
  t0 = glmm_fnmadd(x2, x0, t0);
  
  /* t1[1] = j * p - n * l;
     t1[1] = j * p - n * l;
     t2[1] = f * p - n * h;
     t3[1] = f * l - j * h; */
   t1 = glmm_fnmadd(x4, x0, t1);
  
  /* t1[2] = j * o - n * k
     t1[2] = j * o - n * k;
     t2[2] = f * o - n * g;
     t3[2] = f * k - j * g; */
  t2 = glmm_fnmadd(x4, x3, t2);
  
  /* t1[3] = i * p - m * l;
     t1[3] = i * p - m * l;
     t2[3] = e * p - m * h;
     t3[3] = e * l - i * h; */
  t3 = glmm_fnmadd(x7, x0, t3);
  
  /* t1[4] = i * o - m * k;
     t1[4] = i * o - m * k;
     t2[4] = e * o - m * g;
     t3[4] = e * k - i * g; */
  t4 = glmm_fnmadd(x7, x3, t4);
  
  /* t1[5] = i * n - m * j;
     t1[5] = i * n - m * j;
     t2[5] = e * n - m * f;
     t3[5] = e * j - i * f; */
  t5 = glmm_fnmadd(x7, x5, t5);
  
  x4 = _mm_movelh_ps(r0, r1);        /* f e b a */
  x5 = _mm_movehl_ps(r1, r0);        /* h g d c */
  
  x0 = glmm_shuff1(x4, 0, 0, 0, 2);  /* a a a e */
  x1 = glmm_shuff1(x4, 1, 1, 1, 3);  /* b b b f */
  x2 = glmm_shuff1(x5, 0, 0, 0, 2);  /* c c c g */
  x3 = glmm_shuff1(x5, 1, 1, 1, 3);  /* d d d h */
  
  v2 = _mm_mul_ps(x0, t1);
  v1 = _mm_mul_ps(x0, t0);
  v3 = _mm_mul_ps(x0, t2);
  v0 = _mm_mul_ps(x1, t0);
  
  v2 = glmm_fnmadd(x1, t3, v2);
  v3 = glmm_fnmadd(x1, t4, v3);
  v0 = glmm_fnmadd(x2, t1, v0);
  v1 = glmm_fnmadd(x2, t3, v1);
  
  v3 = glmm_fmadd(x2, t5, v3);
  v0 = glmm_fmadd(x3, t2, v0);
  v2 = glmm_fmadd(x3, t5, v2);
  v1 = glmm_fmadd(x3, t4, v1);

  /*
   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
  v0 = _mm_xor_ps(v0, x8);
  
  /*
   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
  v2 = _mm_xor_ps(v2, x8);

  /*
   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
  v1 = _mm_xor_ps(v1, x9);

  /*
   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
  v3 = _mm_xor_ps(v3, x9);

  /* determinant */
  x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
  x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

  x0 = _mm_div_ps(glmm_set1(1.0f), glmm_vhadd(_mm_mul_ps(x0, r0)));

  glmm_store(dest[0], _mm_mul_ps(v0, x0));
  glmm_store(dest[1], _mm_mul_ps(v1, x0));
  glmm_store(dest[2], _mm_mul_ps(v2, x0));
  glmm_store(dest[3], _mm_mul_ps(v3, x0));
}
#endif

CGLM_INLINE
void
glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3, s1, s2,
         v0, v1, v2, v3, v4, v5,
         t0, t1, t2,
         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11, x12, x13;

  /* s1 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); */
  s1 = glmm_float32x4_SIGNMASK_NPNP;
  s2 = glmm_shuff1(s1, 2, 1, 2, 1);

  /* 127 <- 0 */
  r1 = glmm_load(mat[1]); /* h g f e */
  r0 = glmm_load(mat[0]); /* d c b a */
  r3 = glmm_load(mat[3]); /* p o n m */
  r2 = glmm_load(mat[2]); /* l k j i */
  
  x4  = _mm_unpackhi_ps(r0, r2); /* l d k c */
  x5  = _mm_unpacklo_ps(r0, r2); /* j b i a */
  x6  = _mm_unpackhi_ps(r1, r3); /* p h o g */
  x7  = _mm_unpacklo_ps(r1, r3); /* n f m e */

  x0  = _mm_unpackhi_ps(x7, x5); /* j n b f */
  x1  = _mm_unpacklo_ps(x7, x5); /* i m a e */
  x2  = _mm_unpackhi_ps(x6, x4); /* l p d h */
  x3  = _mm_unpacklo_ps(x6, x4); /* k o c g */

  /* c2 = c * h - d * g   c12 = a * g - c * e    c8  = a * f - b * e
     c1 = k * p - l * o   c11 = i * o - k * m    c7  = i * n - j * m
     c4 = a * h - d * e   c6  = b * h - d * f    c10 = b * g - c * f
     c3 = i * p - l * m   c5  = j * p - l * n    c9  = j * o - k * n */

  x8  = _mm_shuffle_ps(x0, x3, _MM_SHUFFLE(3, 1, 3, 1)); /* k c j b */
  x9  = _mm_shuffle_ps(x0, x3, _MM_SHUFFLE(2, 0, 2, 0)); /* o g n f */

  x10 = glmm_shuff1(x2, 2, 0, 2, 0);                     /* p h p h */
  x11 = glmm_shuff1(x2, 3, 1, 3, 1);                     /* l d l d */

#if 0 /* TODO measure both */
  x12 = _mm_shuffle_ps(x4, x5, _MM_SHUFFLE(1, 0, 1, 0)); /* i a k c */
  x13 = _mm_shuffle_ps(x6, x7, _MM_SHUFFLE(1, 0, 1, 0)); /* m e o g */
#else
  x12 = _mm_movelh_ps(x4, x5);                           /* i a k c */
  x13 = _mm_movelh_ps(x6, x7);                           /* m e o g */
#endif
  
  t0 = _mm_mul_ps(x12, x10);
  t1 = _mm_mul_ps(x5, x6);
  t2 = _mm_mul_ps(x5, x9);

  t0 = glmm_fnmadd(x11, x13, t0);
  t1 = glmm_fnmadd(x4, x7, t1);
  t2 = glmm_fnmadd(x8, x7, t2);

  /* det */
  /* v0: c3 * c10 + c4 * c9 + c1 * c8 + c2 * c7 */
  /* v1: c5 * c12 + c6 * c11 */

  v5 = glmm_set1_rval(1.0f);
  v0 = glmm_shuff1(t2, 2, 3, 0, 1);
  v1 = glmm_shuff1(t1, 0, 1, 2, 3);
  v0 = _mm_mul_ps(t0, v0);
  v1 = _mm_mul_ps(t1, v1);  
  v2 = glmm_shuff1(v1, 1, 0, 0, 1);
  v3 = glmm_shuff1(v0, 0, 1, 2, 3);
  v1 = _mm_add_ps(v1, v2);
  v0 = _mm_add_ps(v0, v3);
  v2 = glmm_shuff1(v0, 1, 0, 0, 1);
  v0 = _mm_add_ps(v0, v2); 

  v0 = _mm_sub_ps(v0, v1); /* det */
  v0 = _mm_div_ps(v5, v0); /* idt */

  /* multiply t0,t1,t2 by idt to reduce 1mul below: 2eor+4mul vs 3mul+4eor */
  t0 = _mm_mul_ps(t0, v0);
  t1 = _mm_mul_ps(t1, v0);
  t2 = _mm_mul_ps(t2, v0);

  v0 = glmm_shuff1(t0, 0, 0, 1, 1); /* c2  c2  c1  c1  */
  v1 = glmm_shuff1(t0, 2, 2, 3, 3); /* c4  c4  c3 c3   */
  v2 = glmm_shuff1(t1, 0, 0, 1, 1); /* c12 c12 c11 c11 */
  v3 = glmm_shuff1(t1, 2, 2, 3, 3); /* c6  c6  c5 c5   */
  v4 = glmm_shuff1(t2, 0, 0, 1, 1); /* c8  c8  c7  c7  */
  v5 = glmm_shuff1(t2, 2, 2, 3, 3); /* c10 c10 c9 c9   */

  /* result */

  /* dest[0][0] = (f * c1  - g * c5  + h * c9)  * idt;
     dest[0][1] = (b * c1  - c * c5  + d * c9)  * ndt;
     dest[0][2] = (n * c2  - o * c6  + p * c10) * idt;
     dest[0][3] = (j * c2  - k * c6  + l * c10) * ndt;
  
     dest[1][0] = (e * c1  - g * c3  + h * c11) * ndt;
     dest[1][1] = (a * c1  - c * c3  + d * c11) * idt;
     dest[1][2] = (m * c2  - o * c4  + p * c12) * ndt;
     dest[1][3] = (i * c2  - k * c4  + l * c12) * idt;
  
     dest[2][0] = (e * c5  - f * c3  + h * c7)  * idt;
     dest[2][1] = (a * c5  - b * c3  + d * c7)  * ndt;
     dest[2][2] = (m * c6  - n * c4  + p * c8)  * idt;
     dest[2][3] = (i * c6  - j * c4  + l * c8)  * ndt;
  
     dest[3][0] = (e * c9  - f * c11 + g * c7)  * ndt;
     dest[3][1] = (a * c9  - b * c11 + c * c7)  * idt;
     dest[3][2] = (m * c10 - n * c12 + o * c8)  * ndt;
     dest[3][3] = (i * c10 - j * c12 + k * c8)  * idt; */

  r0 = _mm_mul_ps(x0, v0);
  r1 = _mm_mul_ps(x1, v0);
  r2 = _mm_mul_ps(x1, v3);
  r3 = _mm_mul_ps(x1, v5);

  r0 = glmm_fnmadd(x3, v3, r0);
  r1 = glmm_fnmadd(x3, v1, r1);
  r2 = glmm_fnmadd(x0, v1, r2);
  r3 = glmm_fnmadd(x0, v2, r3);

  r0 = glmm_fmadd(x2, v5, r0);
  r1 = glmm_fmadd(x2, v2, r1);
  r2 = glmm_fmadd(x2, v4, r2);
  r3 = glmm_fmadd(x3, v4, r3);

  /* 4xor may be fastart then 4mul, see above  */
  r0 = _mm_xor_ps(r0, s1);
  r1 = _mm_xor_ps(r1, s2);
  r2 = _mm_xor_ps(r2, s1);
  r3 = _mm_xor_ps(r3, s2);

  glmm_store(dest[0], r0);
  glmm_store(dest[1], r1);
  glmm_store(dest[2], r2);
  glmm_store(dest[3], r3);
}
#endif
#endif /* cglm_mat_sse_h */