| // 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 |