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142 lines
4.5 KiB
142 lines
4.5 KiB
5 years ago
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
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// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GEOMETRY_SSE_H
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#define EIGEN_GEOMETRY_SSE_H
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namespace Eigen {
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namespace internal {
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template<class Derived, class OtherDerived>
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struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
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{
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static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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Quaternion<float> res;
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const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
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__m128 a = _a.coeffs().template packet<Aligned16>(0);
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__m128 b = _b.coeffs().template packet<Aligned16>(0);
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__m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
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__m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
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pstore(&res.x(),
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_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
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_mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
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vec4f_swizzle1(b,1,2,0,0))),
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_mm_xor_ps(mask,_mm_add_ps(s1,s2))));
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return res;
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}
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};
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template<class Derived, int Alignment>
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struct quat_conj<Architecture::SSE, Derived, float, Alignment>
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{
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static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
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{
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Quaternion<float> res;
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const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
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pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0)));
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return res;
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}
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};
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template<typename VectorLhs,typename VectorRhs>
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struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
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{
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static inline typename plain_matrix_type<VectorLhs>::type
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run(const VectorLhs& lhs, const VectorRhs& rhs)
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{
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__m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
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__m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
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__m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
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__m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
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typename plain_matrix_type<VectorLhs>::type res;
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pstore(&res.x(),_mm_sub_ps(mul1,mul2));
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return res;
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}
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};
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template<class Derived, class OtherDerived, int Alignment>
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struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
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{
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static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
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Quaternion<double> res;
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const double* a = _a.coeffs().data();
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Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
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Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
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Packet2d a_xx = pset1<Packet2d>(a[0]);
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Packet2d a_yy = pset1<Packet2d>(a[1]);
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Packet2d a_zz = pset1<Packet2d>(a[2]);
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Packet2d a_ww = pset1<Packet2d>(a[3]);
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// two temporaries:
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Packet2d t1, t2;
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/*
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* t1 = ww*xy + yy*zw
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* t2 = zz*xy - xx*zw
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* res.xy = t1 +/- swap(t2)
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*/
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t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
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t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
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#ifdef EIGEN_VECTORIZE_SSE3
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EIGEN_UNUSED_VARIABLE(mask)
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pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
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#else
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pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
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#endif
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/*
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* t1 = ww*zw - yy*xy
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* t2 = zz*zw + xx*xy
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* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
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*/
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t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
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t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
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#ifdef EIGEN_VECTORIZE_SSE3
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EIGEN_UNUSED_VARIABLE(mask)
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pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
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#else
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pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
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#endif
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return res;
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}
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};
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template<class Derived, int Alignment>
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struct quat_conj<Architecture::SSE, Derived, double, Alignment>
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{
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static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
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{
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Quaternion<double> res;
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const __m128d mask0 = _mm_setr_pd(-0.,-0.);
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const __m128d mask2 = _mm_setr_pd(-0.,0.);
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pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0)));
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pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2)));
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return res;
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}
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};
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} // end namespace internal
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} // end namespace Eigen
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#endif // EIGEN_GEOMETRY_SSE_H
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