1 files changed, 620 insertions, 0 deletions

diff --git a/depedencies/include/glm/gtx/simd_quat.inl b/depedencies/include/glm/gtx/simd_quat.inl
new file mode 100644
index 0000000..b84865c
--- /dev/null
+++ b/depedencies/include/glm/gtx/simd_quat.inl
@@ -0,0 +1,620 @@
+/// @ref gtx_simd_quat
+/// @file glm/gtx/simd_quat.inl
+
+namespace glm{
+namespace detail{
+
+
+//////////////////////////////////////
+// Debugging
+#if 0
+void print(__m128 v)
+{
+    GLM_ALIGN(16) float result[4];
+    _mm_store_ps(result, v);
+
+    printf("__m128:    %f %f %f %f\n", result[0], result[1], result[2], result[3]);
+}
+
+void print(const fvec4SIMD &v)
+{
+    printf("fvec4SIMD: %f %f %f %f\n", v.x, v.y, v.z, v.w);
+}
+#endif
+
+//////////////////////////////////////
+// Implicit basic constructors
+
+#	if !GLM_HAS_DEFAULTED_FUNCTIONS || !defined(GLM_FORCE_NO_CTOR_INIT)
+	GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD()
+#		ifdef GLM_FORCE_NO_CTOR_INIT
+			: Data(_mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f))
+#		endif
+	{}
+#	endif
+
+#	if !GLM_HAS_DEFAULTED_FUNCTIONS
+	GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(fquatSIMD const & q) :
+		Data(q.Data)
+	{}
+#	endif//!GLM_HAS_DEFAULTED_FUNCTIONS
+
+GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(__m128 const & Data) :
+	Data(Data)
+{}
+
+//////////////////////////////////////
+// Explicit basic constructors
+
+GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(float const & w, float const & x, float const & y, float const & z) :
+	Data(_mm_set_ps(w, z, y, x))
+{}
+
+GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(quat const & q) :
+	Data(_mm_set_ps(q.w, q.z, q.y, q.x))
+{}
+
+GLM_FUNC_QUALIFIER fquatSIMD::fquatSIMD(vec3 const & eulerAngles)
+{
+	vec3 c = glm::cos(eulerAngles * 0.5f);
+	vec3 s = glm::sin(eulerAngles * 0.5f);
+
+	Data = _mm_set_ps(
+		(c.x * c.y * c.z) + (s.x * s.y * s.z),
+		(c.x * c.y * s.z) - (s.x * s.y * c.z),
+		(c.x * s.y * c.z) + (s.x * c.y * s.z),
+		(s.x * c.y * c.z) - (c.x * s.y * s.z));
+}
+
+
+//////////////////////////////////////
+// Unary arithmetic operators
+
+#if !GLM_HAS_DEFAULTED_FUNCTIONS
+	GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator=(fquatSIMD const & q)
+	{
+		this->Data = q.Data;
+		return *this;
+	}
+#endif//!GLM_HAS_DEFAULTED_FUNCTIONS
+
+GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator*=(float const & s)
+{
+	this->Data = _mm_mul_ps(this->Data, _mm_set_ps1(s));
+	return *this;
+}
+
+GLM_FUNC_QUALIFIER fquatSIMD& fquatSIMD::operator/=(float const & s)
+{
+	this->Data = _mm_div_ps(Data, _mm_set1_ps(s));
+	return *this;
+}
+
+
+
+// negate operator
+GLM_FUNC_QUALIFIER fquatSIMD operator- (fquatSIMD const & q)
+{
+    return fquatSIMD(_mm_mul_ps(q.Data, _mm_set_ps(-1.0f, -1.0f, -1.0f, -1.0f)));
+}
+
+// operator+
+GLM_FUNC_QUALIFIER fquatSIMD operator+ (fquatSIMD const & q1, fquatSIMD const & q2)
+{
+	return fquatSIMD(_mm_add_ps(q1.Data, q2.Data));
+}
+
+//operator*
+GLM_FUNC_QUALIFIER fquatSIMD operator* (fquatSIMD const & q1, fquatSIMD const & q2)
+{
+    // SSE2 STATS:
+    //    11 shuffle
+    //    8  mul
+    //    8  add
+    
+    // SSE4 STATS:
+    //    3 shuffle
+    //    4 mul
+    //    4 dpps
+
+    __m128 mul0 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(0, 1, 2, 3)));
+    __m128 mul1 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(1, 0, 3, 2)));
+    __m128 mul2 = _mm_mul_ps(q1.Data, _mm_shuffle_ps(q2.Data, q2.Data, _MM_SHUFFLE(2, 3, 0, 1)));
+    __m128 mul3 = _mm_mul_ps(q1.Data, q2.Data);
+
+#   if(GLM_ARCH & GLM_ARCH_SSE41_BIT)
+    __m128 add0 = _mm_dp_ps(mul0, _mm_set_ps(1.0f, -1.0f,  1.0f,  1.0f), 0xff);
+    __m128 add1 = _mm_dp_ps(mul1, _mm_set_ps(1.0f,  1.0f,  1.0f, -1.0f), 0xff);
+    __m128 add2 = _mm_dp_ps(mul2, _mm_set_ps(1.0f,  1.0f, -1.0f,  1.0f), 0xff);
+    __m128 add3 = _mm_dp_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f), 0xff);
+#   else
+           mul0 = _mm_mul_ps(mul0, _mm_set_ps(1.0f, -1.0f,  1.0f,  1.0f));
+    __m128 add0 = _mm_add_ps(mul0, _mm_movehl_ps(mul0, mul0));
+           add0 = _mm_add_ss(add0, _mm_shuffle_ps(add0, add0, 1));
+
+           mul1 = _mm_mul_ps(mul1, _mm_set_ps(1.0f,  1.0f,  1.0f, -1.0f));
+    __m128 add1 = _mm_add_ps(mul1, _mm_movehl_ps(mul1, mul1));
+           add1 = _mm_add_ss(add1, _mm_shuffle_ps(add1, add1, 1));
+
+           mul2 = _mm_mul_ps(mul2, _mm_set_ps(1.0f,  1.0f, -1.0f,  1.0f));
+    __m128 add2 = _mm_add_ps(mul2, _mm_movehl_ps(mul2, mul2));
+           add2 = _mm_add_ss(add2, _mm_shuffle_ps(add2, add2, 1));
+
+           mul3 = _mm_mul_ps(mul3, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f));
+    __m128 add3 = _mm_add_ps(mul3, _mm_movehl_ps(mul3, mul3));
+           add3 = _mm_add_ss(add3, _mm_shuffle_ps(add3, add3, 1));
+#endif
+
+
+    // This SIMD code is a politically correct way of doing this, but in every test I've tried it has been slower than
+    // the final code below. I'll keep this here for reference - maybe somebody else can do something better...
+    //
+    //__m128 xxyy = _mm_shuffle_ps(add0, add1, _MM_SHUFFLE(0, 0, 0, 0));
+    //__m128 zzww = _mm_shuffle_ps(add2, add3, _MM_SHUFFLE(0, 0, 0, 0));
+    //
+    //return _mm_shuffle_ps(xxyy, zzww, _MM_SHUFFLE(2, 0, 2, 0));
+    
+    float x;
+    float y;
+    float z;
+    float w;
+
+    _mm_store_ss(&x, add0);
+    _mm_store_ss(&y, add1);
+    _mm_store_ss(&z, add2);
+    _mm_store_ss(&w, add3);
+
+    return detail::fquatSIMD(w, x, y, z);
+}
+
+GLM_FUNC_QUALIFIER fvec4SIMD operator* (fquatSIMD const & q, fvec4SIMD const & v)
+{
+    static const __m128 two = _mm_set1_ps(2.0f);
+
+    __m128 q_wwww  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 3, 3, 3));
+    __m128 q_swp0  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 0, 2, 1));
+	__m128 q_swp1  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 1, 0, 2));
+	__m128 v_swp0  = _mm_shuffle_ps(v.Data, v.Data, _MM_SHUFFLE(3, 0, 2, 1));
+	__m128 v_swp1  = _mm_shuffle_ps(v.Data, v.Data, _MM_SHUFFLE(3, 1, 0, 2));
+	
+	__m128 uv      = _mm_sub_ps(_mm_mul_ps(q_swp0, v_swp1), _mm_mul_ps(q_swp1, v_swp0));
+    __m128 uv_swp0 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 0, 2, 1));
+    __m128 uv_swp1 = _mm_shuffle_ps(uv, uv, _MM_SHUFFLE(3, 1, 0, 2));
+    __m128 uuv     = _mm_sub_ps(_mm_mul_ps(q_swp0, uv_swp1), _mm_mul_ps(q_swp1, uv_swp0));
+
+    
+    uv  = _mm_mul_ps(uv,  _mm_mul_ps(q_wwww, two));
+    uuv = _mm_mul_ps(uuv, two);
+
+    return _mm_add_ps(v.Data, _mm_add_ps(uv, uuv));
+}
+
+GLM_FUNC_QUALIFIER fvec4SIMD operator* (fvec4SIMD const & v, fquatSIMD const & q)
+{
+	return glm::inverse(q) * v;
+}
+
+GLM_FUNC_QUALIFIER fquatSIMD operator* (fquatSIMD const & q, float s)
+{
+	return fquatSIMD(_mm_mul_ps(q.Data, _mm_set1_ps(s)));
+}
+
+GLM_FUNC_QUALIFIER fquatSIMD operator* (float s, fquatSIMD const & q)
+{
+	return fquatSIMD(_mm_mul_ps(_mm_set1_ps(s), q.Data));
+}
+
+
+//operator/
+GLM_FUNC_QUALIFIER fquatSIMD operator/ (fquatSIMD const & q, float s)
+{
+	return fquatSIMD(_mm_div_ps(q.Data, _mm_set1_ps(s)));
+}
+
+
+}//namespace detail
+
+
+GLM_FUNC_QUALIFIER quat quat_cast
+(
+	detail::fquatSIMD const & x
+)
+{
+	GLM_ALIGN(16) quat Result;
+	_mm_store_ps(&Result[0], x.Data);
+
+	return Result;
+}
+
+template <typename T>
+GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast_impl(const T m0[], const T m1[], const T m2[])
+{
+    T trace = m0[0] + m1[1] + m2[2] + T(1.0);
+    if (trace > T(0))
+    {
+        T s = static_cast<T>(0.5) / sqrt(trace);
+
+        return _mm_set_ps(
+            static_cast<float>(T(0.25) / s),
+            static_cast<float>((m0[1] - m1[0]) * s),
+            static_cast<float>((m2[0] - m0[2]) * s),
+            static_cast<float>((m1[2] - m2[1]) * s));
+    }
+    else
+    {
+        if (m0[0] > m1[1])
+        {
+            if (m0[0] > m2[2])
+            {
+                // X is biggest.
+                T s = sqrt(m0[0] - m1[1] - m2[2] + T(1.0)) * T(0.5);
+
+                return _mm_set_ps(
+                    static_cast<float>((m1[2] - m2[1]) * s),
+                    static_cast<float>((m2[0] + m0[2]) * s),
+                    static_cast<float>((m0[1] + m1[0]) * s),
+                    static_cast<float>(T(0.5)          * s));
+            }
+        }
+        else
+        {
+            if (m1[1] > m2[2])
+            {
+                // Y is biggest.
+                T s = sqrt(m1[1] - m0[0] - m2[2] + T(1.0)) * T(0.5);
+
+                return _mm_set_ps(
+                    static_cast<float>((m2[0] - m0[2]) * s),
+                    static_cast<float>((m1[2] + m2[1]) * s),
+                    static_cast<float>(T(0.5)          * s),
+                    static_cast<float>((m0[1] + m1[0]) * s));
+            }
+        }
+
+        // Z is biggest.
+        T s = sqrt(m2[2] - m0[0] - m1[1] + T(1.0)) * T(0.5);
+
+        return _mm_set_ps(
+            static_cast<float>((m0[1] - m1[0]) * s),
+            static_cast<float>(T(0.5)          * s),
+            static_cast<float>((m1[2] + m2[1]) * s),
+            static_cast<float>((m2[0] + m0[2]) * s));
+    }
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
+(
+	detail::fmat4x4SIMD const & m
+)
+{
+    // Scalar implementation for now.
+    GLM_ALIGN(16) float m0[4];
+    GLM_ALIGN(16) float m1[4];
+    GLM_ALIGN(16) float m2[4];
+
+    _mm_store_ps(m0, m[0].Data);
+    _mm_store_ps(m1, m[1].Data);
+    _mm_store_ps(m2, m[2].Data);
+
+    return quatSIMD_cast_impl(m0, m1, m2);
+}
+
+template <typename T, precision P>
+GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
+(
+    tmat4x4<T, P> const & m
+)
+{
+    return quatSIMD_cast_impl(&m[0][0], &m[1][0], &m[2][0]);
+}
+
+template <typename T, precision P>
+GLM_FUNC_QUALIFIER detail::fquatSIMD quatSIMD_cast
+(
+    tmat3x3<T, P> const & m
+)
+{
+    return quatSIMD_cast_impl(&m[0][0], &m[1][0], &m[2][0]);
+}
+
+
+GLM_FUNC_QUALIFIER detail::fmat4x4SIMD mat4SIMD_cast
+(
+	detail::fquatSIMD const & q
+)
+{
+    detail::fmat4x4SIMD result;
+
+    __m128 _wwww  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 3, 3, 3));
+    __m128 _xyzw  = q.Data;
+    __m128 _zxyw  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 1, 0, 2));
+    __m128 _yzxw  = _mm_shuffle_ps(q.Data, q.Data, _MM_SHUFFLE(3, 0, 2, 1));
+
+    __m128 _xyzw2 = _mm_add_ps(_xyzw, _xyzw);
+    __m128 _zxyw2 = _mm_shuffle_ps(_xyzw2, _xyzw2, _MM_SHUFFLE(3, 1, 0, 2));
+    __m128 _yzxw2 = _mm_shuffle_ps(_xyzw2, _xyzw2, _MM_SHUFFLE(3, 0, 2, 1));
+    
+    __m128 _tmp0  = _mm_sub_ps(_mm_set1_ps(1.0f), _mm_mul_ps(_yzxw2, _yzxw));
+           _tmp0  = _mm_sub_ps(_tmp0, _mm_mul_ps(_zxyw2, _zxyw));
+
+    __m128 _tmp1  = _mm_mul_ps(_yzxw2, _xyzw);
+           _tmp1  = _mm_add_ps(_tmp1, _mm_mul_ps(_zxyw2, _wwww));
+
+    __m128 _tmp2  = _mm_mul_ps(_zxyw2, _xyzw);
+           _tmp2  = _mm_sub_ps(_tmp2, _mm_mul_ps(_yzxw2, _wwww));
+
+
+    // There's probably a better, more politically correct way of doing this...
+    result[0].Data = _mm_set_ps(
+        0.0f,
+        reinterpret_cast<float*>(&_tmp2)[0],
+        reinterpret_cast<float*>(&_tmp1)[0],
+        reinterpret_cast<float*>(&_tmp0)[0]);
+
+    result[1].Data = _mm_set_ps(
+        0.0f,
+        reinterpret_cast<float*>(&_tmp1)[1],
+        reinterpret_cast<float*>(&_tmp0)[1],
+        reinterpret_cast<float*>(&_tmp2)[1]);
+
+    result[2].Data = _mm_set_ps(
+        0.0f,
+        reinterpret_cast<float*>(&_tmp0)[2],
+        reinterpret_cast<float*>(&_tmp2)[2],
+        reinterpret_cast<float*>(&_tmp1)[2]);
+
+   result[3].Data = _mm_set_ps(
+        1.0f,
+        0.0f,
+        0.0f,
+        0.0f);
+
+
+    return result;
+}
+
+GLM_FUNC_QUALIFIER mat4 mat4_cast
+(
+	detail::fquatSIMD const & q
+)
+{
+    return mat4_cast(mat4SIMD_cast(q));
+}
+
+
+
+GLM_FUNC_QUALIFIER float length
+(
+	detail::fquatSIMD const & q
+)
+{
+    return glm::sqrt(dot(q, q));
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD normalize
+(
+	detail::fquatSIMD const & q
+)
+{
+    return _mm_mul_ps(q.Data, _mm_set1_ps(1.0f / length(q)));
+}
+
+GLM_FUNC_QUALIFIER float dot
+(
+	detail::fquatSIMD const & q1,
+	detail::fquatSIMD const & q2
+)
+{
+    float result;
+    _mm_store_ss(&result, detail::sse_dot_ps(q1.Data, q2.Data));
+
+    return result;
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD mix
+(
+	detail::fquatSIMD const & x, 
+	detail::fquatSIMD const & y, 
+	float const & a
+)
+{
+	float cosTheta = dot(x, y);
+
+    if (cosTheta > 1.0f - glm::epsilon<float>())
+    {
+	    return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
+    }
+    else
+    {
+        float angle = glm::acos(cosTheta);
+        
+        
+        float s0 = glm::sin((1.0f - a) * angle);
+        float s1 = glm::sin(a * angle);
+        float d  = 1.0f / glm::sin(angle);
+
+        return (s0 * x + s1 * y) * d;
+    }
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD lerp
+(
+	detail::fquatSIMD const & x, 
+	detail::fquatSIMD const & y, 
+	float const & a
+)
+{
+	// Lerp is only defined in [0, 1]
+	assert(a >= 0.0f);
+	assert(a <= 1.0f);
+
+    return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD slerp
+(
+	detail::fquatSIMD const & x, 
+	detail::fquatSIMD const & y, 
+	float const & a
+)
+{
+	detail::fquatSIMD z = y;
+
+	float cosTheta = dot(x, y);
+
+	// If cosTheta < 0, the interpolation will take the long way around the sphere. 
+	// To fix this, one quat must be negated.
+	if (cosTheta < 0.0f)
+	{
+		z        = -y;
+		cosTheta = -cosTheta;
+	}
+
+	// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
+	if(cosTheta > 1.0f - epsilon<float>())
+	{
+		return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
+	}
+	else
+	{
+        float angle = glm::acos(cosTheta);
+
+
+		float s0 = glm::sin((1.0f - a) * angle);
+        float s1 = glm::sin(a * angle);
+        float d  = 1.0f / glm::sin(angle);
+
+        return (s0 * x + s1 * y) * d;
+	}
+}
+
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD fastMix
+(
+	detail::fquatSIMD const & x, 
+	detail::fquatSIMD const & y, 
+	float const & a
+)
+{
+	float cosTheta = dot(x, y);
+
+    if (cosTheta > 1.0f - glm::epsilon<float>())
+    {
+	    return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
+    }
+    else
+    {
+        float angle = glm::fastAcos(cosTheta);
+
+
+        __m128 s  = glm::fastSin(_mm_set_ps((1.0f - a) * angle, a * angle, angle, 0.0f));
+
+        __m128 s0 =                               _mm_shuffle_ps(s, s, _MM_SHUFFLE(3, 3, 3, 3));
+        __m128 s1 =                               _mm_shuffle_ps(s, s, _MM_SHUFFLE(2, 2, 2, 2));
+        __m128 d  = _mm_div_ps(_mm_set1_ps(1.0f), _mm_shuffle_ps(s, s, _MM_SHUFFLE(1, 1, 1, 1)));
+        
+        return _mm_mul_ps(_mm_add_ps(_mm_mul_ps(s0, x.Data), _mm_mul_ps(s1, y.Data)), d);
+    }
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD fastSlerp
+(
+	detail::fquatSIMD const & x, 
+	detail::fquatSIMD const & y, 
+	float const & a
+)
+{
+	detail::fquatSIMD z = y;
+
+	float cosTheta = dot(x, y);
+	if (cosTheta < 0.0f)
+	{
+		z        = -y;
+		cosTheta = -cosTheta;
+	}
+
+
+	if(cosTheta > 1.0f - epsilon<float>())
+	{
+		return _mm_add_ps(x.Data, _mm_mul_ps(_mm_set1_ps(a), _mm_sub_ps(y.Data, x.Data)));
+	}
+	else
+	{
+        float angle = glm::fastAcos(cosTheta);
+
+
+        __m128 s  = glm::fastSin(_mm_set_ps((1.0f - a) * angle, a * angle, angle, 0.0f));
+
+        __m128 s0 =                               _mm_shuffle_ps(s, s, _MM_SHUFFLE(3, 3, 3, 3));
+        __m128 s1 =                               _mm_shuffle_ps(s, s, _MM_SHUFFLE(2, 2, 2, 2));
+        __m128 d  = _mm_div_ps(_mm_set1_ps(1.0f), _mm_shuffle_ps(s, s, _MM_SHUFFLE(1, 1, 1, 1)));
+        
+        return _mm_mul_ps(_mm_add_ps(_mm_mul_ps(s0, x.Data), _mm_mul_ps(s1, y.Data)), d);
+	}
+}
+
+
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD conjugate
+(
+	detail::fquatSIMD const & q
+)
+{
+	return detail::fquatSIMD(_mm_mul_ps(q.Data, _mm_set_ps(1.0f, -1.0f, -1.0f, -1.0f)));
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD inverse
+(
+	detail::fquatSIMD const & q
+)
+{
+	return conjugate(q) / dot(q, q);
+}
+
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD angleAxisSIMD
+(
+	float const & angle,
+	vec3 const & v
+)
+{
+	float s = glm::sin(angle * 0.5f);
+
+	return _mm_set_ps(
+		glm::cos(angle * 0.5f),
+		v.z * s,
+		v.y * s,
+		v.x * s);
+}
+
+GLM_FUNC_QUALIFIER detail::fquatSIMD angleAxisSIMD
+(
+	float const & angle, 
+	float const & x, 
+	float const & y, 
+	float const & z
+)
+{
+	return angleAxisSIMD(angle, vec3(x, y, z));
+}
+
+
+GLM_FUNC_QUALIFIER __m128 fastSin(__m128 x)
+{
+	static const __m128 c0 = _mm_set1_ps(0.16666666666666666666666666666667f);
+	static const __m128 c1 = _mm_set1_ps(0.00833333333333333333333333333333f);
+	static const __m128 c2 = _mm_set1_ps(0.00019841269841269841269841269841f);
+
+	__m128 x3 = _mm_mul_ps(x,  _mm_mul_ps(x, x));
+	__m128 x5 = _mm_mul_ps(x3, _mm_mul_ps(x, x));
+	__m128 x7 = _mm_mul_ps(x5, _mm_mul_ps(x, x));
+
+	__m128 y0 = _mm_mul_ps(x3, c0);
+	__m128 y1 = _mm_mul_ps(x5, c1);
+	__m128 y2 = _mm_mul_ps(x7, c2);
+
+	return _mm_sub_ps(_mm_add_ps(_mm_sub_ps(x, y0), y1), y2);
+}
+
+
+}//namespace glm