1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> 5 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> 6 // 7 // This Source Code Form is subject to the terms of the Mozilla 8 // Public License v. 2.0. If a copy of the MPL was not distributed 9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 11 #ifndef EIGEN_GEOMETRY_SSE_H 12 #define EIGEN_GEOMETRY_SSE_H 13 14 namespace Eigen { 15 16 namespace internal { 17 18 template<class Derived, class OtherDerived> 19 struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16> 20 { 21 static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) 22 { 23 Quaternion<float> res; 24 const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f); 25 __m128 a = _a.coeffs().template packet<Aligned16>(0); 26 __m128 b = _b.coeffs().template packet<Aligned16>(0); 27 __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); 28 __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); 29 pstore(&res.x(), 30 _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)), 31 _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0), 32 vec4f_swizzle1(b,1,2,0,0))), 33 _mm_xor_ps(mask,_mm_add_ps(s1,s2)))); 34 35 return res; 36 } 37 }; 38 39 template<class Derived, int Alignment> 40 struct quat_conj<Architecture::SSE, Derived, float, Alignment> 41 { 42 static inline Quaternion<float> run(const QuaternionBase<Derived>& q) 43 { 44 Quaternion<float> res; 45 const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f); 46 pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0))); 47 return res; 48 } 49 }; 50 51 52 template<typename VectorLhs,typename VectorRhs> 53 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> 54 { 55 static inline typename plain_matrix_type<VectorLhs>::type 56 run(const VectorLhs& lhs, const VectorRhs& rhs) 57 { 58 __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0); 59 __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0); 60 __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); 61 __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); 62 typename plain_matrix_type<VectorLhs>::type res; 63 pstore(&res.x(),_mm_sub_ps(mul1,mul2)); 64 return res; 65 } 66 }; 67 68 69 70 71 template<class Derived, class OtherDerived, int Alignment> 72 struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment> 73 { 74 static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) 75 { 76 const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0)); 77 78 Quaternion<double> res; 79 80 const double* a = _a.coeffs().data(); 81 Packet2d b_xy = _b.coeffs().template packet<Alignment>(0); 82 Packet2d b_zw = _b.coeffs().template packet<Alignment>(2); 83 Packet2d a_xx = pset1<Packet2d>(a[0]); 84 Packet2d a_yy = pset1<Packet2d>(a[1]); 85 Packet2d a_zz = pset1<Packet2d>(a[2]); 86 Packet2d a_ww = pset1<Packet2d>(a[3]); 87 88 // two temporaries: 89 Packet2d t1, t2; 90 91 /* 92 * t1 = ww*xy + yy*zw 93 * t2 = zz*xy - xx*zw 94 * res.xy = t1 +/- swap(t2) 95 */ 96 t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); 97 t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); 98 #ifdef EIGEN_VECTORIZE_SSE3 99 EIGEN_UNUSED_VARIABLE(mask) 100 pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2))); 101 #else 102 pstore(&res.x(), padd(t1, pxor(mask,preverse(t2)))); 103 #endif 104 105 /* 106 * t1 = ww*zw - yy*xy 107 * t2 = zz*zw + xx*xy 108 * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) 109 */ 110 t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); 111 t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); 112 #ifdef EIGEN_VECTORIZE_SSE3 113 EIGEN_UNUSED_VARIABLE(mask) 114 pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2))); 115 #else 116 pstore(&res.z(), psub(t1, pxor(mask,preverse(t2)))); 117 #endif 118 119 return res; 120 } 121 }; 122 123 template<class Derived, int Alignment> 124 struct quat_conj<Architecture::SSE, Derived, double, Alignment> 125 { 126 static inline Quaternion<double> run(const QuaternionBase<Derived>& q) 127 { 128 Quaternion<double> res; 129 const __m128d mask0 = _mm_setr_pd(-0.,-0.); 130 const __m128d mask2 = _mm_setr_pd(-0.,0.); 131 pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0))); 132 pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2))); 133 return res; 134 } 135 }; 136 137 } // end namespace internal 138 139 } // end namespace Eigen 140 141 #endif // EIGEN_GEOMETRY_SSE_H 142