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Diffstat (limited to 'third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h')
| -rw-r--r-- | third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h | 115 |
1 files changed, 115 insertions, 0 deletions
diff --git a/third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h b/third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h new file mode 100644 index 0000000000..3d8284f2d0 --- /dev/null +++ b/third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -0,0 +1,115 @@ +// 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> +// +// 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<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 |