| 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
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| 5 | // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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| 6 | //
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| 7 | // This Source Code Form is subject to the terms of the Mozilla
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| 8 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 10 |
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| 11 | #ifndef EIGEN_GEOMETRY_SSE_H
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| 12 | #define EIGEN_GEOMETRY_SSE_H
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| 13 |
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| 14 | namespace Eigen {
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| 15 |
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| 16 | namespace internal {
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| 17 |
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| 18 | template<class Derived, class OtherDerived>
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| 19 | struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
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| 20 | {
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| 21 | static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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| 22 | {
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| 23 | const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
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| 24 | Quaternion<float> res;
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| 25 | __m128 a = _a.coeffs().template packet<Aligned>(0);
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| 26 | __m128 b = _b.coeffs().template packet<Aligned>(0);
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| 27 | __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
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| 28 | vec4f_swizzle1(b,2,0,1,2)),mask);
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| 29 | __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
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| 30 | vec4f_swizzle1(b,0,1,2,1)),mask);
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| 31 | pstore(&res.x(),
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| 32 | _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
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| 33 | _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
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| 34 | vec4f_swizzle1(b,1,2,0,0))),
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| 35 | _mm_add_ps(flip1,flip2)));
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| 36 | return res;
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| 37 | }
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| 38 | };
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| 39 |
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| 40 | template<typename VectorLhs,typename VectorRhs>
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| 41 | struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
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| 42 | {
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| 43 | static inline typename plain_matrix_type<VectorLhs>::type
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| 44 | run(const VectorLhs& lhs, const VectorRhs& rhs)
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| 45 | {
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| 46 | __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
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| 47 | __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
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| 48 | __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
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| 49 | __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
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| 50 | typename plain_matrix_type<VectorLhs>::type res;
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| 51 | pstore(&res.x(),_mm_sub_ps(mul1,mul2));
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| 52 | return res;
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| 53 | }
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| 54 | };
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 | template<class Derived, class OtherDerived>
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| 60 | struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
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| 61 | {
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| 62 | static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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| 63 | {
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| 64 | const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
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| 65 |
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| 66 | Quaternion<double> res;
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| 67 |
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| 68 | const double* a = _a.coeffs().data();
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| 69 | Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
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| 70 | Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
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| 71 | Packet2d a_xx = pset1<Packet2d>(a[0]);
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| 72 | Packet2d a_yy = pset1<Packet2d>(a[1]);
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| 73 | Packet2d a_zz = pset1<Packet2d>(a[2]);
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| 74 | Packet2d a_ww = pset1<Packet2d>(a[3]);
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| 75 |
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| 76 | // two temporaries:
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| 77 | Packet2d t1, t2;
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| 78 |
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| 79 | /*
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| 80 | * t1 = ww*xy + yy*zw
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| 81 | * t2 = zz*xy - xx*zw
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| 82 | * res.xy = t1 +/- swap(t2)
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| 83 | */
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| 84 | t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
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| 85 | t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
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| 86 | #ifdef EIGEN_VECTORIZE_SSE3
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| 87 | EIGEN_UNUSED_VARIABLE(mask)
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| 88 | pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
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| 89 | #else
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| 90 | pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
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| 91 | #endif
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| 92 |
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| 93 | /*
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| 94 | * t1 = ww*zw - yy*xy
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| 95 | * t2 = zz*zw + xx*xy
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| 96 | * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
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| 97 | */
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| 98 | t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
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| 99 | t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
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| 100 | #ifdef EIGEN_VECTORIZE_SSE3
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| 101 | EIGEN_UNUSED_VARIABLE(mask)
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| 102 | pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
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| 103 | #else
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| 104 | pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
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| 105 | #endif
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| 106 |
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| 107 | return res;
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| 108 | }
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| 109 | };
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| 110 |
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| 111 | } // end namespace internal
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| 112 |
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| 113 | } // end namespace Eigen
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| 114 |
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| 115 | #endif // EIGEN_GEOMETRY_SSE_H
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