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| author |  Mathieu Gautier <mathieu.gautier@cea.fr> | 2009-10-27 13:19:16 +0000 |
|---|---|---|
| committer | Mathieu Gautier <mathieu.gautier@cea.fr> | 2009-10-27 13:19:16 +0000 |
| commit | 611d2b0b1d64880ff207368a901c7faba73a78c5 (patch) | |
| tree | 41b2877afa25b21d5d6621bcc383cd4d2f29e577 /Eigen/src/Geometry/arch/Geometry_SSE.h | |
| parent | 427f8a87d1c184e9fb0c5fdc62197be2a0abb910 (diff) | |
Quaternion could now map an array of 4 scalars :
new classes :
* QuaternionBase
* Map<Quaternion>
Diffstat (limited to 'Eigen/src/Geometry/arch/Geometry_SSE.h')
| -rw-r--r-- | Eigen/src/Geometry/arch/Geometry_SSE.h | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h index d0342febc..c608e4843 100644 --- a/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -45,6 +45,27 @@ ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quate return res; } +template<class Derived, class OtherDerived> struct ei_quat_product<EiArch_SSE, Derived, OtherDerived, float, Aligned> +{ + inline static Quat<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) + { + const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); + Quat<float> res; + __m128 a = _a.coeffs().packet<Aligned>(0); + __m128 b = _b.coeffs().packet<Aligned>(0); + __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2), + ei_vec4f_swizzle1(b,2,0,1,2)),mask); + __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1), + ei_vec4f_swizzle1(b,0,1,2,1)),mask); + ei_pstore(&res.x(), + _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)), + _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0), + ei_vec4f_swizzle1(b,1,2,0,0))), + _mm_add_ps(flip1,flip2))); + return res; + } +}; + template<typename VectorLhs,typename VectorRhs> struct ei_cross3_impl<EiArch_SSE,VectorLhs,VectorRhs,float,true> { inline static typename ei_plain_matrix_type<VectorLhs>::type |