Eigen  3.3.3
Geometry_SSE.h
00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
00005 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
00006 //
00007 // This Source Code Form is subject to the terms of the Mozilla
00008 // Public License v. 2.0. If a copy of the MPL was not distributed
00009 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00010 
00011 #ifndef EIGEN_GEOMETRY_SSE_H
00012 #define EIGEN_GEOMETRY_SSE_H
00013 
00014 namespace Eigen { 
00015 
00016 namespace internal {
00017 
00018 template<class Derived, class OtherDerived>
00019 struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
00020 {
00021   static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
00022   {
00023     Quaternion<float> res;
00024     const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
00025     __m128 a = _a.coeffs().template packet<Aligned16>(0);
00026     __m128 b = _b.coeffs().template packet<Aligned16>(0);
00027     __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
00028     __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
00029     pstore(&res.x(),
00030               _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
00031                                     _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
00032                                                vec4f_swizzle1(b,1,2,0,0))),
00033                          _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
00034     
00035     return res;
00036   }
00037 };
00038 
00039 template<class Derived, int Alignment>
00040 struct quat_conj<Architecture::SSE, Derived, float, Alignment>
00041 {
00042   static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
00043   {
00044     Quaternion<float> res;
00045     const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
00046     pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0)));
00047     return res;
00048   }
00049 };
00050 
00051 
00052 template<typename VectorLhs,typename VectorRhs>
00053 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
00054 {
00055   static inline typename plain_matrix_type<VectorLhs>::type
00056   run(const VectorLhs& lhs, const VectorRhs& rhs)
00057   {
00058     __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
00059     __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
00060     __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
00061     __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
00062     typename plain_matrix_type<VectorLhs>::type res;
00063     pstore(&res.x(),_mm_sub_ps(mul1,mul2));
00064     return res;
00065   }
00066 };
00067 
00068 
00069 
00070 
00071 template<class Derived, class OtherDerived, int Alignment>
00072 struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
00073 {
00074   static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
00075   {
00076   const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
00077 
00078   Quaternion<double> res;
00079 
00080   const double* a = _a.coeffs().data();
00081   Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
00082   Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
00083   Packet2d a_xx = pset1<Packet2d>(a[0]);
00084   Packet2d a_yy = pset1<Packet2d>(a[1]);
00085   Packet2d a_zz = pset1<Packet2d>(a[2]);
00086   Packet2d a_ww = pset1<Packet2d>(a[3]);
00087 
00088   // two temporaries:
00089   Packet2d t1, t2;
00090 
00091   /*
00092    * t1 = ww*xy + yy*zw
00093    * t2 = zz*xy - xx*zw
00094    * res.xy = t1 +/- swap(t2)
00095    */
00096   t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
00097   t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
00098 #ifdef EIGEN_VECTORIZE_SSE3
00099   EIGEN_UNUSED_VARIABLE(mask)
00100   pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
00101 #else
00102   pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
00103 #endif
00104   
00105   /*
00106    * t1 = ww*zw - yy*xy
00107    * t2 = zz*zw + xx*xy
00108    * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
00109    */
00110   t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
00111   t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
00112 #ifdef EIGEN_VECTORIZE_SSE3
00113   EIGEN_UNUSED_VARIABLE(mask)
00114   pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
00115 #else
00116   pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
00117 #endif
00118 
00119   return res;
00120 }
00121 };
00122 
00123 template<class Derived, int Alignment>
00124 struct quat_conj<Architecture::SSE, Derived, double, Alignment>
00125 {
00126   static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
00127   {
00128     Quaternion<double> res;
00129     const __m128d mask0 = _mm_setr_pd(-0.,-0.);
00130     const __m128d mask2 = _mm_setr_pd(-0.,0.);
00131     pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0)));
00132     pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2)));
00133     return res;
00134   }
00135 };
00136 
00137 } // end namespace internal
00138 
00139 } // end namespace Eigen
00140 
00141 #endif // EIGEN_GEOMETRY_SSE_H
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