From 38ae5353ab6f1050aed64821ac56a1561096cdce Mon Sep 17 00:00:00 2001 From: Guoqiang QI <425418567@qq.com> Date: Wed, 13 Jan 2021 22:54:03 +0000 Subject: 1)provide a better generic paddsub op implementation 2)make paddsub op support the Packet2cf/Packet4f/Packet2f in NEON 3)make paddsub op support the Packet2cf/Packet4f in SSE --- Eigen/src/Geometry/arch/Geometry_SIMD.h | 165 +++++++++++++++++++++++++++++++ Eigen/src/Geometry/arch/Geometry_SSE.h | 170 -------------------------------- 2 files changed, 165 insertions(+), 170 deletions(-) create mode 100644 Eigen/src/Geometry/arch/Geometry_SIMD.h delete mode 100644 Eigen/src/Geometry/arch/Geometry_SSE.h (limited to 'Eigen/src/Geometry') diff --git a/Eigen/src/Geometry/arch/Geometry_SIMD.h b/Eigen/src/Geometry/arch/Geometry_SIMD.h new file mode 100644 index 000000000..9c15bfb98 --- /dev/null +++ b/Eigen/src/Geometry/arch/Geometry_SIMD.h @@ -0,0 +1,165 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Rohit Garg +// Copyright (C) 2009-2010 Gael Guennebaud +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_GEOMETRY_SIMD_H +#define EIGEN_GEOMETRY_SIMD_H + +namespace Eigen { + +namespace internal { + +template +struct quat_product +{ + enum { + AAlignment = traits::Alignment, + BAlignment = traits::Alignment, + ResAlignment = traits >::Alignment + }; + static inline Quaternion run(const QuaternionBase& _a, const QuaternionBase& _b) + { + evaluator ae(_a.coeffs()); + evaluator be(_b.coeffs()); + Quaternion res; + float arr[4] = {0.f, 0.f, 0.f, -0.f}; + const Packet4f mask = pset(arr); + Packet4f a = ae.template packet(0); + Packet4f b = be.template packet(0); + Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); + Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); + pstoret( + &res.x(), + padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)), + pmul(vec4f_swizzle1(a,2,0,1,0), + vec4f_swizzle1(b,1,2,0,0))), + pxor(mask,padd(s1,s2)))); + + return res; + } +}; + +template +struct quat_conj +{ + enum { + ResAlignment = traits >::Alignment + }; + static inline Quaternion run(const QuaternionBase& q) + { + evaluator qe(q.coeffs()); + Quaternion res; + float arr[4] = {-0.f,-0.f,-0.f,0.f}; + const Packet4f mask = pset(arr); + pstoret(&res.x(), pxor(mask, qe.template packet::Alignment,Packet4f>(0))); + return res; + } +}; + + +template +struct cross3_impl +{ + enum { + ResAlignment = traits::type>::Alignment + }; + static inline typename plain_matrix_type::type + run(const VectorLhs& lhs, const VectorRhs& rhs) + { + evaluator lhs_eval(lhs); + evaluator rhs_eval(rhs); + Packet4f a = lhs_eval.template packet::Alignment,Packet4f>(0); + Packet4f b = rhs_eval.template packet::Alignment,Packet4f>(0); + Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); + Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); + typename plain_matrix_type::type res; + pstoret(&res.x(),psub(mul1,mul2)); + return res; + } +}; + + + +#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64) + +template +struct quat_product +{ + enum { + BAlignment = traits::Alignment, + ResAlignment = traits >::Alignment + }; + + static inline Quaternion run(const QuaternionBase& _a, const QuaternionBase& _b) + { + Quaternion res; + + evaluator ae(_a.coeffs()); + evaluator be(_b.coeffs()); + + const double* a = _a.coeffs().data(); + Packet2d b_xy = be.template packet(0); + Packet2d b_zw = be.template packet(2); + Packet2d a_xx = pset1(a[0]); + Packet2d a_yy = pset1(a[1]); + Packet2d a_zz = pset1(a[2]); + Packet2d a_ww = pset1(a[3]); + + // two temporaries: + Packet2d t1, t2; + + /* + * t1 = ww*xy + yy*zw + * t2 = zz*xy - xx*zw + * res.xy = t1 +/- swap(t2) + */ + t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); + t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); + pstoret(&res.x(), paddsub(t1, preverse(t2))); + + /* + * t1 = ww*zw - yy*xy + * t2 = zz*zw + xx*xy + * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) + */ + t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); + t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); + pstoret(&res.z(), preverse(paddsub(preverse(t1), t2))); + + return res; +} +}; + +template +struct quat_conj +{ + enum { + ResAlignment = traits >::Alignment + }; + static inline Quaternion run(const QuaternionBase& q) + { + evaluator qe(q.coeffs()); + Quaternion res; + double arr1[2] = {-0.0, -0.0}; + double arr2[2] = {-0.0, 0.0}; + const Packet2d mask0 = pset(arr1); + const Packet2d mask2 = pset(arr2); + pstoret(&res.x(), pxor(mask0, qe.template packet::Alignment,Packet2d>(0))); + pstoret(&res.z(), pxor(mask2, qe.template packet::Alignment,Packet2d>(2))); + return res; + } +}; + +#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64 + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_GEOMETRY_SIMD_H diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h deleted file mode 100644 index 108cc9f8e..000000000 --- a/Eigen/src/Geometry/arch/Geometry_SSE.h +++ /dev/null @@ -1,170 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Rohit Garg -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_GEOMETRY_SSE_H -#define EIGEN_GEOMETRY_SSE_H - -namespace Eigen { - -namespace internal { - -template -struct quat_product -{ - enum { - AAlignment = traits::Alignment, - BAlignment = traits::Alignment, - ResAlignment = traits >::Alignment - }; - static inline Quaternion run(const QuaternionBase& _a, const QuaternionBase& _b) - { - evaluator ae(_a.coeffs()); - evaluator be(_b.coeffs()); - Quaternion res; - const Packet4f mask = _mm_setr_ps(0.f,0.f,0.f,-0.f); - Packet4f a = ae.template packet(0); - Packet4f b = be.template packet(0); - Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); - Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); - pstoret( - &res.x(), - padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)), - pmul(vec4f_swizzle1(a,2,0,1,0), - vec4f_swizzle1(b,1,2,0,0))), - pxor(mask,padd(s1,s2)))); - - return res; - } -}; - -template -struct quat_conj -{ - enum { - ResAlignment = traits >::Alignment - }; - static inline Quaternion run(const QuaternionBase& q) - { - evaluator qe(q.coeffs()); - Quaternion res; - const Packet4f mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f); - pstoret(&res.x(), pxor(mask, qe.template packet::Alignment,Packet4f>(0))); - return res; - } -}; - - -template -struct cross3_impl -{ - enum { - ResAlignment = traits::type>::Alignment - }; - static inline typename plain_matrix_type::type - run(const VectorLhs& lhs, const VectorRhs& rhs) - { - evaluator lhs_eval(lhs); - evaluator rhs_eval(rhs); - Packet4f a = lhs_eval.template packet::Alignment,Packet4f>(0); - Packet4f b = rhs_eval.template packet::Alignment,Packet4f>(0); - Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); - Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); - typename plain_matrix_type::type res; - pstoret(&res.x(),psub(mul1,mul2)); - return res; - } -}; - - - - -template -struct quat_product -{ - enum { - BAlignment = traits::Alignment, - ResAlignment = traits >::Alignment - }; - - static inline Quaternion run(const QuaternionBase& _a, const QuaternionBase& _b) - { - const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0)); - - Quaternion res; - - evaluator ae(_a.coeffs()); - evaluator be(_b.coeffs()); - - const double* a = _a.coeffs().data(); - Packet2d b_xy = be.template packet(0); - Packet2d b_zw = be.template packet(2); - Packet2d a_xx = pset1(a[0]); - Packet2d a_yy = pset1(a[1]); - Packet2d a_zz = pset1(a[2]); - Packet2d a_ww = pset1(a[3]); - - // two temporaries: - Packet2d t1, t2; - - /* - * t1 = ww*xy + yy*zw - * t2 = zz*xy - xx*zw - * res.xy = t1 +/- swap(t2) - */ - t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); - t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); -#ifdef EIGEN_VECTORIZE_SSE3 - EIGEN_UNUSED_VARIABLE(mask) - pstoret(&res.x(), _mm_addsub_pd(t1, preverse(t2))); -#else - pstoret(&res.x(), padd(t1, pxor(mask,preverse(t2)))); -#endif - - /* - * t1 = ww*zw - yy*xy - * t2 = zz*zw + xx*xy - * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) - */ - t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); - t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); -#ifdef EIGEN_VECTORIZE_SSE3 - EIGEN_UNUSED_VARIABLE(mask) - pstoret(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2))); -#else - pstoret(&res.z(), psub(t1, pxor(mask,preverse(t2)))); -#endif - - return res; -} -}; - -template -struct quat_conj -{ - enum { - ResAlignment = traits >::Alignment - }; - static inline Quaternion run(const QuaternionBase& q) - { - evaluator qe(q.coeffs()); - Quaternion res; - const Packet2d mask0 = _mm_setr_pd(-0.,-0.); - const Packet2d mask2 = _mm_setr_pd(-0.,0.); - pstoret(&res.x(), pxor(mask0, qe.template packet::Alignment,Packet2d>(0))); - pstoret(&res.z(), pxor(mask2, qe.template packet::Alignment,Packet2d>(2))); - return res; - } -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_GEOMETRY_SSE_H -- cgit v1.2.3