diff options
Diffstat (limited to 'Eigen/src')
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 17 | ||||
| -rw-r--r-- | Eigen/src/Geometry/arch/Geometry_SSE.h | 46 |
2 files changed, 51 insertions, 12 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index e1ad803bb..8c44df699 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -441,7 +441,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) return internal::quat_product<Architecture::Target, Derived, OtherDerived, typename internal::traits<Derived>::Scalar, - internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned>::run(*this, other); + (internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned)?Aligned:Unaligned>::run(*this, other); } /** \sa operator*(Quaternion) */ @@ -646,6 +646,16 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der } } +// Generic conjugate of a Quaternion +namespace internal { +template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj +{ + static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){ + return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z()); + } +}; +} + /** \returns the conjugate of the \c *this which is equal to the multiplicative inverse * if the quaternion is normalized. * The conjugate of a quaternion represents the opposite rotation. @@ -656,7 +666,10 @@ template <class Derived> inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::conjugate() const { - return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z()); + return internal::quat_conj<Architecture::Target, Derived, + typename internal::traits<Derived>::Scalar, + internal::traits<Derived>::IsAligned?Aligned:Unaligned>::run(*this); + } /** \returns the angle (in radian) between two rotations diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h index 3d8284f2d..e59c32c56 100644 --- a/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -20,23 +20,35 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned> { static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) { - const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); Quaternion<float> res; + const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f); __m128 a = _a.coeffs().template packet<Aligned>(0); __m128 b = _b.coeffs().template packet<Aligned>(0); - __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2), - vec4f_swizzle1(b,2,0,1,2)),mask); - __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1), - vec4f_swizzle1(b,0,1,2,1)),mask); + __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); + __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); pstore(&res.x(), _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)), _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0), vec4f_swizzle1(b,1,2,0,0))), - _mm_add_ps(flip1,flip2))); + _mm_xor_ps(mask,_mm_add_ps(s1,s2)))); + return res; } }; +template<class Derived, int Alignment> +struct quat_conj<Architecture::SSE, Derived, float, Alignment> +{ + static inline Quaternion<float> run(const QuaternionBase<Derived>& q) + { + Quaternion<float> res; + const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f); + pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0))); + return res; + } +}; + + template<typename VectorLhs,typename VectorRhs> struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> { @@ -56,8 +68,8 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> -template<class Derived, class OtherDerived> -struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> +template<class Derived, class OtherDerived, int Alignment> +struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment> { static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) { @@ -66,8 +78,8 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> Quaternion<double> res; const double* a = _a.coeffs().data(); - Packet2d b_xy = _b.coeffs().template packet<Aligned>(0); - Packet2d b_zw = _b.coeffs().template packet<Aligned>(2); + Packet2d b_xy = _b.coeffs().template packet<Alignment>(0); + Packet2d b_zw = _b.coeffs().template packet<Alignment>(2); Packet2d a_xx = pset1<Packet2d>(a[0]); Packet2d a_yy = pset1<Packet2d>(a[1]); Packet2d a_zz = pset1<Packet2d>(a[2]); @@ -108,6 +120,20 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> } }; +template<class Derived, int Alignment> +struct quat_conj<Architecture::SSE, Derived, double, Alignment> +{ + static inline Quaternion<double> run(const QuaternionBase<Derived>& q) + { + Quaternion<double> res; + const __m128d mask0 = _mm_setr_pd(-0.,-0.); + const __m128d mask2 = _mm_setr_pd(-0.,0.); + pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0))); + pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2))); + return res; + } +}; + } // end namespace internal } // end namespace Eigen |