Embedded/common/src/b_TensorEm/Flt16Mat3D.c - platform/external/neven - Gitiles

 /*
  * Copyright (C) 2008 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 /* ---- includes ----------------------------------------------------------- */

 #include "b_TensorEm/Flt16Mat3D.h"
 #include "b_TensorEm/Functions.h"
 #include "b_BasicEm/Math.h"

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ auxiliary functions } ---------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ constructor / destructor } ----------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 void bts_Flt16Mat3D_init( struct bts_Flt16Mat3D* ptrA )
 {
 	ptrA->bbpE = 0;
 	ptrA->xxE = 0;
 	ptrA->xyE = 0;
 	ptrA->xzE = 0;
 	ptrA->yxE = 0;
 	ptrA->yyE = 0;
 	ptrA->yzE = 0;
 	ptrA->zxE = 0;
 	ptrA->zyE = 0;
 	ptrA->zzE = 0;
 }

 /* ------------------------------------------------------------------------- */

 void bts_Flt16Mat3D_exit( struct bts_Flt16Mat3D* ptrA )
 {
 	ptrA->bbpE = 0;
 	ptrA->xxE = 0;
 	ptrA->xyE = 0;
 	ptrA->xzE = 0;
 	ptrA->yxE = 0;
 	ptrA->yyE = 0;
 	ptrA->yzE = 0;
 	ptrA->zxE = 0;
 	ptrA->zyE = 0;
 	ptrA->zzE = 0;
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ operators } -------------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ query functions } -------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ modify functions } ------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ I/O } -------------------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 uint32 bts_Flt16Mat3D_memSize( struct bbs_Context* cpA,
 							   const struct bts_Flt16Mat3D *ptrA )
 {
 	return bbs_SIZEOF16( *ptrA );
 }

 /* ------------------------------------------------------------------------- */

 uint32 bts_Flt16Mat3D_memWrite( struct bbs_Context* cpA,
 							    const struct bts_Flt16Mat3D* ptrA,
 								uint16* memPtrA )
 {
 	bbs_ERROR0( "not implemented" );
 	return 0;
 }

 /* ------------------------------------------------------------------------- */

 uint32 bts_Flt16Mat3D_memRead( struct bbs_Context* cpA,
 							   struct bts_Flt16Mat3D* ptrA,
 							   const uint16* memPtrA )
 {
 	if( bbs_Context_error( cpA ) ) return 0;
 	bbs_ERROR0( "not implemented" );
 	return 0;
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
 /*                                                                           */
 /* ---- \ghd{ exec functions } --------------------------------------------- */
 /*                                                                           */
 /* ========================================================================= */

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D bts_Flt16Mat3D_createIdentity()
 {
 	struct bts_Flt16Mat3D matL = { 1 << 14, 0, 0, 0, 1 << 14, 0, 0, 0, 1 << 14, 14 };
 	return matL;
 }

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D bts_Flt16Mat3D_createScale( int32 scaleA, int32 scaleBbpA )
 {
 	struct bts_Flt16Mat3D matL = bts_Flt16Mat3D_createIdentity();
 	bts_Flt16Mat3D_scale( &matL, scaleA, scaleBbpA );
 	return matL;
 }

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D bts_Flt16Mat3D_create16( int16 xxA, int16 xyA, int16 xzA,
 											   int16 yxA, int16 yyA, int16 yzA,
 											   int16 zxA, int16 zyA, int16 zzA,
 											   int16 bbpA )
 {
 	struct bts_Flt16Mat3D matL;
 	matL.xxE = xxA;
 	matL.xyE = xyA;
 	matL.xzE = xzA;
 	matL.yxE = yxA;
 	matL.yyE = yyA;
 	matL.yzE = yzA;
 	matL.zxE = zxA;
 	matL.zyE = zyA;
 	matL.zzE = zzA;
 	matL.bbpE = bbpA;
 	return matL;
 }

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D bts_Flt16Mat3D_create32( int32 xxA, int32 xyA, int32 xzA,
 											   int32 yxA, int32 yyA, int32 yzA,
 											   int32 zxA, int32 zyA, int32 zzA,
 											   int32 bbpA )
 {
 	struct bts_Flt16Mat3D matL;

 	if( ( xxA | xyA | xzA | yxA | yyA | yzA | zxA | zyA | zzA ) == 0 )
 	{
 		matL.xxE = 0;
 		matL.xyE = 0;
 		matL.xzE = 0;
 		matL.yxE = 0;
 		matL.yyE = 0;
 		matL.yzE = 0;
 		matL.zxE = 0;
 		matL.zyE = 0;
 		matL.zzE = 0;
 		matL.bbpE = 0;
 	}
 	else
 	{
 		int32 xShiftL = bts_maxAbsIntLog2Of3( xxA, xyA, xzA ) - 13;
 		int32 yShiftL = bts_maxAbsIntLog2Of3( yxA, yyA, yzA ) - 13;
 		int32 zShiftL = bts_maxAbsIntLog2Of3( zxA, zyA, zzA ) - 13;

 		int32 shiftL = bbs_max( bbs_max( xShiftL, yShiftL ), zShiftL );

 		if( shiftL > 0 )
 		{
 			int32 sh1L = shiftL - 1;
 			matL.xxE = ( ( xxA >> sh1L ) + 1 ) >> 1;
 			matL.xyE = ( ( xyA >> sh1L ) + 1 ) >> 1;
 			matL.xzE = ( ( xzA >> sh1L ) + 1 ) >> 1;
 			matL.yxE = ( ( yxA >> sh1L ) + 1 ) >> 1;
 			matL.yyE = ( ( yyA >> sh1L ) + 1 ) >> 1;
 			matL.yzE = ( ( yzA >> sh1L ) + 1 ) >> 1;
 			matL.zxE = ( ( zxA >> sh1L ) + 1 ) >> 1;
 			matL.zyE = ( ( zyA >> sh1L ) + 1 ) >> 1;
 			matL.zzE = ( ( zzA >> sh1L ) + 1 ) >> 1;
 		}
 		else
 		{
 			matL.xxE = xxA << -shiftL;
 			matL.xyE = xyA << -shiftL;
 			matL.xzE = xzA << -shiftL;
 			matL.yxE = yxA << -shiftL;
 			matL.yyE = yyA << -shiftL;
 			matL.yzE = yzA << -shiftL;
 			matL.zxE = zxA << -shiftL;
 			matL.zyE = zyA << -shiftL;
 			matL.zzE = zzA << -shiftL;
 		}

 		matL.bbpE = bbpA - shiftL;
 	}
 	return matL;
 }

 /* ------------------------------------------------------------------------- */

 void bts_Flt16Mat3D_scale( struct bts_Flt16Mat3D* ptrA, int32 scaleA, int32 scaleBbpA )
 {
 	/* fit scale in 15 bit */
 	uint32 scaleExpL = bts_absIntLog2( scaleA );
 	if( scaleExpL > 14 )
 	{
 		int32 shiftL = scaleExpL - 14;
 		scaleA = ( ( scaleA >> ( shiftL - 1 ) ) + 1 ) >> 1;
 		scaleBbpA -= shiftL;
 	}

 	*ptrA = bts_Flt16Mat3D_create32( ptrA->xxE * scaleA, ptrA->xyE * scaleA, ptrA->xzE * scaleA,
 									 ptrA->yxE * scaleA, ptrA->yyE * scaleA, ptrA->yzE * scaleA,
 									 ptrA->zxE * scaleA, ptrA->zyE * scaleA, ptrA->zzE * scaleA,
 									 ptrA->bbpE + scaleBbpA );
 }

 /* ------------------------------------------------------------------------- */
 #ifndef HW_EE /* causes internal compiler error in ee-gcc */
 struct bts_Int16Vec3D bts_Flt16Mat3D_map( const struct bts_Flt16Mat3D* matPtrA,
 								          const struct bts_Int16Vec3D* vecPtrA )
 {
 	struct bts_Int16Vec3D vecL;

 	int32 xL = ( int32 ) matPtrA->xxE * vecPtrA->xE + ( int32 ) matPtrA->xyE * vecPtrA->yE + ( int32 ) matPtrA->xzE * vecPtrA->zE;
 	int32 yL = ( int32 ) matPtrA->yxE * vecPtrA->xE + ( int32 ) matPtrA->yyE * vecPtrA->yE + ( int32 ) matPtrA->yzE * vecPtrA->zE;
 	int32 zL = ( int32 ) matPtrA->zxE * vecPtrA->xE + ( int32 ) matPtrA->zyE * vecPtrA->yE + ( int32 ) matPtrA->zzE * vecPtrA->zE;

 	if( matPtrA->bbpE > 0 )
 	{
 		int32 sh1L = matPtrA->bbpE - 1;
 		vecL.xE = ( ( xL >> sh1L ) + 1 ) >> 1;
 		vecL.yE = ( ( yL >> sh1L ) + 1 ) >> 1;
 		vecL.zE = ( ( zL >> sh1L ) + 1 ) >> 1;
 	}
 	else
 	{
 		/* not overflow safe */
 		vecL.xE = xL << -matPtrA->bbpE;
 		vecL.yE = yL << -matPtrA->bbpE;
 		vecL.zE = zL << -matPtrA->bbpE;
 	}

 	return vecL;
 }
 #endif
 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Vec3D bts_Flt16Mat3D_mapFlt( const struct bts_Flt16Mat3D* matPtrA,
 								             const struct bts_Flt16Vec3D* vecPtrA )
 {
 	/* avoids overflow summing intermediate products */
 	int32 xL = ( ( ( ( int32 ) matPtrA->xxE * vecPtrA->xE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->xyE * vecPtrA->yE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->xzE * vecPtrA->zE + 1 ) >> 1 ) );

 	int32 yL = ( ( ( ( int32 ) matPtrA->yxE * vecPtrA->xE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->yyE * vecPtrA->yE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->yzE * vecPtrA->zE + 1 ) >> 1 ) );

 	int32 zL = ( ( ( ( int32 ) matPtrA->zxE * vecPtrA->xE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->zyE * vecPtrA->yE + 1 ) >> 1 ) +
 				 ( ( ( int32 ) matPtrA->zzE * vecPtrA->zE + 1 ) >> 1 ) );


 	return bts_Flt16Vec3D_create32( xL, yL, zL, vecPtrA->bbpE + matPtrA->bbpE - 1 );
 }

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D bts_Flt16Mat3D_mul( const struct bts_Flt16Mat3D* mat1PtrA,
 								          const struct bts_Flt16Mat3D* mat2PtrA )
 {
 	/* avoids overflow summing intermediate products */
 	return bts_Flt16Mat3D_create32(

 		( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zxE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zyE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zzE + 1 ) >> 1 ),

 		( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zxE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zyE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zzE + 1 ) >> 1 ),

 		( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zxE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zyE + 1 ) >> 1 ),
 		( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zzE + 1 ) >> 1 ),

 		mat1PtrA->bbpE + mat2PtrA->bbpE - 1 );
 }

 /* ------------------------------------------------------------------------- */

 struct bts_Flt16Mat3D* bts_Flt16Mat3D_mulTo( struct bts_Flt16Mat3D* mat1PtrA,
 				                             const struct bts_Flt16Mat3D* mat2PtrA )
 {
 	*mat1PtrA = bts_Flt16Mat3D_mul( mat1PtrA, mat2PtrA );
 	return mat1PtrA;
 }

 /* ------------------------------------------------------------------------- */

 /* ========================================================================= */
	/*
	* Copyright (C) 2008 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	/* ---- includes ----------------------------------------------------------- */

	#include "b_TensorEm/Flt16Mat3D.h"
	#include "b_TensorEm/Functions.h"
	#include "b_BasicEm/Math.h"

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ auxiliary functions } ---------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ constructor / destructor } ----------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	void bts_Flt16Mat3D_init( struct bts_Flt16Mat3D* ptrA )
	{
	ptrA->bbpE = 0;
	ptrA->xxE = 0;
	ptrA->xyE = 0;
	ptrA->xzE = 0;
	ptrA->yxE = 0;
	ptrA->yyE = 0;
	ptrA->yzE = 0;
	ptrA->zxE = 0;
	ptrA->zyE = 0;
	ptrA->zzE = 0;
	}

	/* ------------------------------------------------------------------------- */

	void bts_Flt16Mat3D_exit( struct bts_Flt16Mat3D* ptrA )
	{
	ptrA->bbpE = 0;
	ptrA->xxE = 0;
	ptrA->xyE = 0;
	ptrA->xzE = 0;
	ptrA->yxE = 0;
	ptrA->yyE = 0;
	ptrA->yzE = 0;
	ptrA->zxE = 0;
	ptrA->zyE = 0;
	ptrA->zzE = 0;
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ operators } -------------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ query functions } -------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ modify functions } ------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ I/O } -------------------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	uint32 bts_Flt16Mat3D_memSize( struct bbs_Context* cpA,
	const struct bts_Flt16Mat3D *ptrA )
	{
	return bbs_SIZEOF16( *ptrA );
	}

	/* ------------------------------------------------------------------------- */

	uint32 bts_Flt16Mat3D_memWrite( struct bbs_Context* cpA,
	const struct bts_Flt16Mat3D* ptrA,
	uint16* memPtrA )
	{
	bbs_ERROR0( "not implemented" );
	return 0;
	}

	/* ------------------------------------------------------------------------- */

	uint32 bts_Flt16Mat3D_memRead( struct bbs_Context* cpA,
	struct bts_Flt16Mat3D* ptrA,
	const uint16* memPtrA )
	{
	if( bbs_Context_error( cpA ) ) return 0;
	bbs_ERROR0( "not implemented" );
	return 0;
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */
	/* */
	/* ---- \ghd{ exec functions } --------------------------------------------- */
	/* */
	/* ========================================================================= */

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D bts_Flt16Mat3D_createIdentity()
	{
	struct bts_Flt16Mat3D matL = { 1 << 14, 0, 0, 0, 1 << 14, 0, 0, 0, 1 << 14, 14 };
	return matL;
	}

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D bts_Flt16Mat3D_createScale( int32 scaleA, int32 scaleBbpA )
	{
	struct bts_Flt16Mat3D matL = bts_Flt16Mat3D_createIdentity();
	bts_Flt16Mat3D_scale( &matL, scaleA, scaleBbpA );
	return matL;
	}

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D bts_Flt16Mat3D_create16( int16 xxA, int16 xyA, int16 xzA,
	int16 yxA, int16 yyA, int16 yzA,
	int16 zxA, int16 zyA, int16 zzA,
	int16 bbpA )
	{
	struct bts_Flt16Mat3D matL;
	matL.xxE = xxA;
	matL.xyE = xyA;
	matL.xzE = xzA;
	matL.yxE = yxA;
	matL.yyE = yyA;
	matL.yzE = yzA;
	matL.zxE = zxA;
	matL.zyE = zyA;
	matL.zzE = zzA;
	matL.bbpE = bbpA;
	return matL;
	}

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D bts_Flt16Mat3D_create32( int32 xxA, int32 xyA, int32 xzA,
	int32 yxA, int32 yyA, int32 yzA,
	int32 zxA, int32 zyA, int32 zzA,
	int32 bbpA )
	{
	struct bts_Flt16Mat3D matL;

	if( ( xxA \| xyA \| xzA \| yxA \| yyA \| yzA \| zxA \| zyA \| zzA ) == 0 )
	{
	matL.xxE = 0;
	matL.xyE = 0;
	matL.xzE = 0;
	matL.yxE = 0;
	matL.yyE = 0;
	matL.yzE = 0;
	matL.zxE = 0;
	matL.zyE = 0;
	matL.zzE = 0;
	matL.bbpE = 0;
	}
	else
	{
	int32 xShiftL = bts_maxAbsIntLog2Of3( xxA, xyA, xzA ) - 13;
	int32 yShiftL = bts_maxAbsIntLog2Of3( yxA, yyA, yzA ) - 13;
	int32 zShiftL = bts_maxAbsIntLog2Of3( zxA, zyA, zzA ) - 13;

	int32 shiftL = bbs_max( bbs_max( xShiftL, yShiftL ), zShiftL );

	if( shiftL > 0 )
	{
	int32 sh1L = shiftL - 1;
	matL.xxE = ( ( xxA >> sh1L ) + 1 ) >> 1;
	matL.xyE = ( ( xyA >> sh1L ) + 1 ) >> 1;
	matL.xzE = ( ( xzA >> sh1L ) + 1 ) >> 1;
	matL.yxE = ( ( yxA >> sh1L ) + 1 ) >> 1;
	matL.yyE = ( ( yyA >> sh1L ) + 1 ) >> 1;
	matL.yzE = ( ( yzA >> sh1L ) + 1 ) >> 1;
	matL.zxE = ( ( zxA >> sh1L ) + 1 ) >> 1;
	matL.zyE = ( ( zyA >> sh1L ) + 1 ) >> 1;
	matL.zzE = ( ( zzA >> sh1L ) + 1 ) >> 1;
	}
	else
	{
	matL.xxE = xxA << -shiftL;
	matL.xyE = xyA << -shiftL;
	matL.xzE = xzA << -shiftL;
	matL.yxE = yxA << -shiftL;
	matL.yyE = yyA << -shiftL;
	matL.yzE = yzA << -shiftL;
	matL.zxE = zxA << -shiftL;
	matL.zyE = zyA << -shiftL;
	matL.zzE = zzA << -shiftL;
	}

	matL.bbpE = bbpA - shiftL;
	}
	return matL;
	}

	/* ------------------------------------------------------------------------- */

	void bts_Flt16Mat3D_scale( struct bts_Flt16Mat3D* ptrA, int32 scaleA, int32 scaleBbpA )
	{
	/* fit scale in 15 bit */
	uint32 scaleExpL = bts_absIntLog2( scaleA );
	if( scaleExpL > 14 )
	{
	int32 shiftL = scaleExpL - 14;
	scaleA = ( ( scaleA >> ( shiftL - 1 ) ) + 1 ) >> 1;
	scaleBbpA -= shiftL;
	}

	ptrA = bts_Flt16Mat3D_create32( ptrA->xxE scaleA, ptrA->xyE * scaleA, ptrA->xzE * scaleA,
	ptrA->yxE * scaleA, ptrA->yyE * scaleA, ptrA->yzE * scaleA,
	ptrA->zxE * scaleA, ptrA->zyE * scaleA, ptrA->zzE * scaleA,
	ptrA->bbpE + scaleBbpA );
	}

	/* ------------------------------------------------------------------------- */
	#ifndef HW_EE /* causes internal compiler error in ee-gcc */
	struct bts_Int16Vec3D bts_Flt16Mat3D_map( const struct bts_Flt16Mat3D* matPtrA,
	const struct bts_Int16Vec3D* vecPtrA )
	{
	struct bts_Int16Vec3D vecL;

	int32 xL = ( int32 ) matPtrA->xxE * vecPtrA->xE + ( int32 ) matPtrA->xyE * vecPtrA->yE + ( int32 ) matPtrA->xzE * vecPtrA->zE;
	int32 yL = ( int32 ) matPtrA->yxE * vecPtrA->xE + ( int32 ) matPtrA->yyE * vecPtrA->yE + ( int32 ) matPtrA->yzE * vecPtrA->zE;
	int32 zL = ( int32 ) matPtrA->zxE * vecPtrA->xE + ( int32 ) matPtrA->zyE * vecPtrA->yE + ( int32 ) matPtrA->zzE * vecPtrA->zE;

	if( matPtrA->bbpE > 0 )
	{
	int32 sh1L = matPtrA->bbpE - 1;
	vecL.xE = ( ( xL >> sh1L ) + 1 ) >> 1;
	vecL.yE = ( ( yL >> sh1L ) + 1 ) >> 1;
	vecL.zE = ( ( zL >> sh1L ) + 1 ) >> 1;
	}
	else
	{
	/* not overflow safe */
	vecL.xE = xL << -matPtrA->bbpE;
	vecL.yE = yL << -matPtrA->bbpE;
	vecL.zE = zL << -matPtrA->bbpE;
	}

	return vecL;
	}
	#endif
	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Vec3D bts_Flt16Mat3D_mapFlt( const struct bts_Flt16Mat3D* matPtrA,
	const struct bts_Flt16Vec3D* vecPtrA )
	{
	/* avoids overflow summing intermediate products */
	int32 xL = ( ( ( ( int32 ) matPtrA->xxE * vecPtrA->xE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->xyE * vecPtrA->yE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->xzE * vecPtrA->zE + 1 ) >> 1 ) );

	int32 yL = ( ( ( ( int32 ) matPtrA->yxE * vecPtrA->xE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->yyE * vecPtrA->yE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->yzE * vecPtrA->zE + 1 ) >> 1 ) );

	int32 zL = ( ( ( ( int32 ) matPtrA->zxE * vecPtrA->xE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->zyE * vecPtrA->yE + 1 ) >> 1 ) +
	( ( ( int32 ) matPtrA->zzE * vecPtrA->zE + 1 ) >> 1 ) );


	return bts_Flt16Vec3D_create32( xL, yL, zL, vecPtrA->bbpE + matPtrA->bbpE - 1 );
	}

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D bts_Flt16Mat3D_mul( const struct bts_Flt16Mat3D* mat1PtrA,
	const struct bts_Flt16Mat3D* mat2PtrA )
	{
	/* avoids overflow summing intermediate products */
	return bts_Flt16Mat3D_create32(

	( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zxE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zyE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->xxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->xzE * mat2PtrA->zzE + 1 ) >> 1 ),

	( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zxE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zyE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->yxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->yzE * mat2PtrA->zzE + 1 ) >> 1 ),

	( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yxE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zxE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yyE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zyE + 1 ) >> 1 ),
	( ( ( int32 ) mat1PtrA->zxE * mat2PtrA->xzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zyE * mat2PtrA->yzE + 1 ) >> 1 ) + ( ( ( int32 ) mat1PtrA->zzE * mat2PtrA->zzE + 1 ) >> 1 ),

	mat1PtrA->bbpE + mat2PtrA->bbpE - 1 );
	}

	/* ------------------------------------------------------------------------- */

	struct bts_Flt16Mat3D* bts_Flt16Mat3D_mulTo( struct bts_Flt16Mat3D* mat1PtrA,
	const struct bts_Flt16Mat3D* mat2PtrA )
	{
	*mat1PtrA = bts_Flt16Mat3D_mul( mat1PtrA, mat2PtrA );
	return mat1PtrA;
	}

	/* ------------------------------------------------------------------------- */

	/* ========================================================================= */