123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161 |
- // This file is part of Eigen, a lightweight C++ template library
- // for linear algebra.
- //
- // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
- // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
- //
- // This Source Code Form is subject to the terms of the Mozilla
- // Public License v. 2.0. If a copy of the MPL was not distributed
- // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
- #ifndef EIGEN_GEOMETRY_SSE_H
- #define EIGEN_GEOMETRY_SSE_H
- namespace Eigen {
- namespace internal {
- template<class Derived, class OtherDerived>
- struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
- {
- enum {
- AAlignment = traits<Derived>::Alignment,
- BAlignment = traits<OtherDerived>::Alignment,
- ResAlignment = traits<Quaternion<float> >::Alignment
- };
- static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
- {
- Quaternion<float> res;
- const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
- __m128 a = _a.coeffs().template packet<AAlignment>(0);
- __m128 b = _b.coeffs().template packet<BAlignment>(0);
- __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
- __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
- pstoret<float,Packet4f,ResAlignment>(
- &res.x(),
- _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
- _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
- vec4f_swizzle1(b,1,2,0,0))),
- _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
-
- return res;
- }
- };
- template<class Derived>
- struct quat_conj<Architecture::SSE, Derived, float>
- {
- enum {
- ResAlignment = traits<Quaternion<float> >::Alignment
- };
- static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
- {
- Quaternion<float> res;
- const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
- pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
- return res;
- }
- };
- template<typename VectorLhs,typename VectorRhs>
- struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
- {
- enum {
- ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
- };
- static inline typename plain_matrix_type<VectorLhs>::type
- run(const VectorLhs& lhs, const VectorRhs& rhs)
- {
- __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
- __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
- __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
- __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
- typename plain_matrix_type<VectorLhs>::type res;
- pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
- return res;
- }
- };
- template<class Derived, class OtherDerived>
- struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
- {
- enum {
- BAlignment = traits<OtherDerived>::Alignment,
- ResAlignment = traits<Quaternion<double> >::Alignment
- };
- static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
- {
- const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
- Quaternion<double> res;
- const double* a = _a.coeffs().data();
- Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
- Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
- Packet2d a_xx = pset1<Packet2d>(a[0]);
- Packet2d a_yy = pset1<Packet2d>(a[1]);
- Packet2d a_zz = pset1<Packet2d>(a[2]);
- Packet2d a_ww = pset1<Packet2d>(a[3]);
- // two temporaries:
- Packet2d t1, t2;
- /*
- * t1 = ww*xy + yy*zw
- * t2 = zz*xy - xx*zw
- * res.xy = t1 +/- swap(t2)
- */
- t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
- t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
- #ifdef EIGEN_VECTORIZE_SSE3
- EIGEN_UNUSED_VARIABLE(mask)
- pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
- #else
- pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
- #endif
-
- /*
- * t1 = ww*zw - yy*xy
- * t2 = zz*zw + xx*xy
- * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
- */
- t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
- t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
- #ifdef EIGEN_VECTORIZE_SSE3
- EIGEN_UNUSED_VARIABLE(mask)
- pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
- #else
- pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
- #endif
- return res;
- }
- };
- template<class Derived>
- struct quat_conj<Architecture::SSE, Derived, double>
- {
- enum {
- ResAlignment = traits<Quaternion<double> >::Alignment
- };
- static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
- {
- Quaternion<double> res;
- const __m128d mask0 = _mm_setr_pd(-0.,-0.);
- const __m128d mask2 = _mm_setr_pd(-0.,0.);
- pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
- pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
- return res;
- }
- };
- } // end namespace internal
- } // end namespace Eigen
- #endif // EIGEN_GEOMETRY_SSE_H
|