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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_GEOMETRY_SSE_H
#define EIGEN_GEOMETRY_SSE_H
namespace Eigen {
namespace internal {
template<class Derived, class OtherDerived>
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;
__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);
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)));
return res;
}
};
template<typename VectorLhs,typename VectorRhs>
struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
{
static inline typename plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
__m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
__m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
typename plain_matrix_type<VectorLhs>::type res;
pstore(&res.x(),_mm_sub_ps(mul1,mul2));
return res;
}
};
template<class Derived, class OtherDerived>
struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
{
static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{
const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
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 a_xx = pset1<Packet2d>(a[0]);
Packet2d a_yy = pset1<Packet2d>(a[1]);
Packet2d a_zz = pset1<Packet2d>(a[2]);
Packet2d a_ww = pset1<Packet2d>(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)
pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
#else
pstore(&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)
pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
#else
pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
#endif
return res;
}
};
} // end namespace internal
} // end namespace Eigen
#endif // EIGEN_GEOMETRY_SSE_H
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