Geometry_SSE.h
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1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
5 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
6 //
7 // This Source Code Form is subject to the terms of the Mozilla
8 // Public License v. 2.0. If a copy of the MPL was not distributed
9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10 
11 #ifndef EIGEN_GEOMETRY_SSE_H
12 #define EIGEN_GEOMETRY_SSE_H
13 
14 namespace Eigen {
15 
16 namespace internal {
17 
18 template<class Derived, class OtherDerived>
19 struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
20 {
21  enum {
24  ResAlignment = traits<Quaternion<float> >::Alignment
25  };
27  {
29  const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
30  __m128 a = _a.coeffs().template packet<AAlignment>(0);
31  __m128 b = _b.coeffs().template packet<BAlignment>(0);
32  __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
33  __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
34  pstoret<float,Packet4f,ResAlignment>(
35  &res.x(),
36  _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
37  _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
38  vec4f_swizzle1(b,1,2,0,0))),
39  _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
40 
41  return res;
42  }
43 };
44 
45 template<class Derived>
46 struct quat_conj<Architecture::SSE, Derived, float>
47 {
48  enum {
49  ResAlignment = traits<Quaternion<float> >::Alignment
50  };
52  {
54  const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
55  pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
56  return res;
57  }
58 };
59 
60 
61 template<typename VectorLhs,typename VectorRhs>
62 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
63 {
64  enum {
66  };
67  static inline typename plain_matrix_type<VectorLhs>::type
68  run(const VectorLhs& lhs, const VectorRhs& rhs)
69  {
70  __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
71  __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
72  __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
73  __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
75  pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
76  return res;
77  }
78 };
79 
80 
81 
82 
83 template<class Derived, class OtherDerived>
84 struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
85 {
86  enum {
88  ResAlignment = traits<Quaternion<double> >::Alignment
89  };
90 
92  {
93  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
94 
96 
97  const double* a = _a.coeffs().data();
98  Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
99  Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
100  Packet2d a_xx = pset1<Packet2d>(a[0]);
101  Packet2d a_yy = pset1<Packet2d>(a[1]);
102  Packet2d a_zz = pset1<Packet2d>(a[2]);
103  Packet2d a_ww = pset1<Packet2d>(a[3]);
104 
105  // two temporaries:
106  Packet2d t1, t2;
107 
108  /*
109  * t1 = ww*xy + yy*zw
110  * t2 = zz*xy - xx*zw
111  * res.xy = t1 +/- swap(t2)
112  */
113  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
114  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
115 #ifdef EIGEN_VECTORIZE_SSE3
117  pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
118 #else
119  pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
120 #endif
121 
122  /*
123  * t1 = ww*zw - yy*xy
124  * t2 = zz*zw + xx*xy
125  * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
126  */
127  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
128  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
129 #ifdef EIGEN_VECTORIZE_SSE3
131  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
132 #else
133  pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
134 #endif
135 
136  return res;
137 }
138 };
139 
140 template<class Derived>
141 struct quat_conj<Architecture::SSE, Derived, double>
142 {
143  enum {
144  ResAlignment = traits<Quaternion<double> >::Alignment
145  };
147  {
149  const __m128d mask0 = _mm_setr_pd(-0.,-0.);
150  const __m128d mask2 = _mm_setr_pd(-0.,0.);
151  pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
152  pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
153  return res;
154  }
155 };
156 
157 } // end namespace internal
158 
159 } // end namespace Eigen
160 
161 #endif // EIGEN_GEOMETRY_SSE_H
static Quaternion< float > run(const QuaternionBase< Derived > &q)
Definition: Geometry_SSE.h:51
static plain_matrix_type< VectorLhs >::type run(const VectorLhs &lhs, const VectorRhs &rhs)
Definition: Geometry_SSE.h:68
Scalar * b
Definition: benchVecAdd.cpp:17
Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
Array33i a
EIGEN_DEVICE_FUNC Packet padd(const Packet &a, const Packet &b)
cout<< "Here is the matrix m:"<< endl<< m<< endl;Matrix< ptrdiff_t, 3, 1 > res
EIGEN_DEVICE_FUNC const internal::traits< Derived >::Coefficients & coeffs() const
#define vec4f_swizzle1(v, p, q, r, s)
static Quaternion< float > run(const QuaternionBase< Derived > &_a, const QuaternionBase< OtherDerived > &_b)
Definition: Geometry_SSE.h:26
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
EIGEN_DEVICE_FUNC const Scalar & q
Base class for quaternion expressions.
static Symbol x0('x', 0)
static Quaternion< double > run(const QuaternionBase< Derived > &q)
Definition: Geometry_SSE.h:146
The quaternion class used to represent 3D orientations and rotations.
EIGEN_DEVICE_FUNC Packet psub(const Packet &a, const Packet &b)
EIGEN_STRONG_INLINE Packet2d pset1< Packet2d >(const double &from)
EIGEN_DEVICE_FUNC Packet pxor(const Packet &a, const Packet &b)
EIGEN_DEVICE_FUNC Packet pmul(const Packet &a, const Packet &b)
#define EIGEN_UNUSED_VARIABLE(var)
Definition: Macros.h:618
EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf &a)
static Quaternion< double > run(const QuaternionBase< Derived > &_a, const QuaternionBase< OtherDerived > &_b)
Definition: Geometry_SSE.h:91


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autogenerated on Sat May 8 2021 02:42:08