diff options
Diffstat (limited to 'eigen/Eigen/src/Geometry/arch/Geometry_SSE.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/arch/Geometry_SSE.h | 56 |
1 files changed, 41 insertions, 15 deletions
diff --git a/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h b/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h index 3d8284f..1a86ff8 100644 --- a/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -16,35 +16,47 @@ namespace Eigen { namespace internal { template<class Derived, class OtherDerived> -struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned> +struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16> { 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); + const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f); + __m128 a = _a.coeffs().template packet<Aligned16>(0); + __m128 b = _b.coeffs().template packet<Aligned16>(0); + __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> { 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 a = lhs.template packet<traits<VectorLhs>::Alignment>(0); + __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(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; @@ -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 |