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-rw-r--r--eigen/Eigen/src/Geometry/AlignedBox.h2
-rw-r--r--eigen/Eigen/src/Geometry/ParametrizedLine.h39
-rw-r--r--eigen/Eigen/src/Geometry/Quaternion.h10
-rw-r--r--eigen/Eigen/src/Geometry/Transform.h14
-rw-r--r--eigen/Eigen/src/Geometry/arch/Geometry_SSE.h60
5 files changed, 53 insertions, 72 deletions
diff --git a/eigen/Eigen/src/Geometry/AlignedBox.h b/eigen/Eigen/src/Geometry/AlignedBox.h
index c902d8f..066eae4 100644
--- a/eigen/Eigen/src/Geometry/AlignedBox.h
+++ b/eigen/Eigen/src/Geometry/AlignedBox.h
@@ -63,7 +63,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
/** Default constructor initializing a null box. */
EIGEN_DEVICE_FUNC inline AlignedBox()
- { if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
+ { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
/** Constructs a null box with \a _dim the dimension of the ambient space. */
EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
diff --git a/eigen/Eigen/src/Geometry/ParametrizedLine.h b/eigen/Eigen/src/Geometry/ParametrizedLine.h
index 3929ca8..1e985d8 100644
--- a/eigen/Eigen/src/Geometry/ParametrizedLine.h
+++ b/eigen/Eigen/src/Geometry/ParametrizedLine.h
@@ -104,44 +104,7 @@ public:
template <int OtherOptions>
EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
- /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
- *
- * \param mat the Dim x Dim transformation matrix
- * \param traits specifies whether the matrix \a mat represents an #Isometry
- * or a more generic #Affine transformation. The default is #Affine.
- */
- template<typename XprType>
- EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
- {
- if (traits==Affine)
- direction() = (mat * direction()).normalized();
- else if (traits==Isometry)
- direction() = mat * direction();
- else
- {
- eigen_assert(0 && "invalid traits value in ParametrizedLine::transform()");
- }
- origin() = mat * origin();
- return *this;
- }
-
- /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
- *
- * \param t the transformation of dimension Dim
- * \param traits specifies whether the transformation \a t represents an #Isometry
- * or a more generic #Affine transformation. The default is #Affine.
- * Other kind of transformations are not supported.
- */
- template<int TrOptions>
- EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
- TransformTraits traits = Affine)
- {
- transform(t.linear(), traits);
- origin() += t.translation();
- return *this;
- }
-
-/** \returns \c *this with scalar type casted to \a NewScalarType
+ /** \returns \c *this with scalar type casted to \a NewScalarType
*
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
* then this function smartly returns a const reference to \c *this.
diff --git a/eigen/Eigen/src/Geometry/Quaternion.h b/eigen/Eigen/src/Geometry/Quaternion.h
index f6ef1bc..3e5a9ba 100644
--- a/eigen/Eigen/src/Geometry/Quaternion.h
+++ b/eigen/Eigen/src/Geometry/Quaternion.h
@@ -423,7 +423,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
// Generic Quaternion * Quaternion product
// This product can be specialized for a given architecture via the Arch template argument.
namespace internal {
-template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
+template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
return Quaternion<Scalar>
@@ -446,8 +446,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
return internal::quat_product<Architecture::Target, Derived, OtherDerived,
- typename internal::traits<Derived>::Scalar,
- EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other);
+ typename internal::traits<Derived>::Scalar>::run(*this, other);
}
/** \sa operator*(Quaternion) */
@@ -672,7 +671,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
// Generic conjugate of a Quaternion
namespace internal {
-template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj
+template<int Arch, class Derived, typename Scalar> struct quat_conj
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
@@ -691,8 +690,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::conjugate() const
{
return internal::quat_conj<Architecture::Target, Derived,
- typename internal::traits<Derived>::Scalar,
- internal::traits<Derived>::Alignment>::run(*this);
+ typename internal::traits<Derived>::Scalar>::run(*this);
}
diff --git a/eigen/Eigen/src/Geometry/Transform.h b/eigen/Eigen/src/Geometry/Transform.h
index 2d36dfa..3f31ee4 100644
--- a/eigen/Eigen/src/Geometry/Transform.h
+++ b/eigen/Eigen/src/Geometry/Transform.h
@@ -335,7 +335,7 @@ public:
OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
};
- if(EIGEN_CONST_CONDITIONAL(ModeIsAffineCompact == OtherModeIsAffineCompact))
+ if(ModeIsAffineCompact == OtherModeIsAffineCompact)
{
// We need the block expression because the code is compiled for all
// combinations of transformations and will trigger a compile time error
@@ -343,7 +343,7 @@ public:
m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
makeAffine();
}
- else if(EIGEN_CONST_CONDITIONAL(OtherModeIsAffineCompact))
+ else if(OtherModeIsAffineCompact)
{
typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
@@ -481,7 +481,7 @@ public:
TransformTimeDiagonalReturnType res;
res.linear().noalias() = a*b.linear();
res.translation().noalias() = a*b.translation();
- if (EIGEN_CONST_CONDITIONAL(Mode!=int(AffineCompact)))
+ if (Mode!=int(AffineCompact))
res.matrix().row(Dim) = b.matrix().row(Dim);
return res;
}
@@ -755,7 +755,7 @@ template<typename Scalar, int Dim, int Mode,int Options>
Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
{
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+ if (Mode == int(AffineCompact))
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy();
else
@@ -801,7 +801,7 @@ Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator
{
check_template_params();
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+ if (Mode == int(AffineCompact))
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy();
else
@@ -819,7 +819,7 @@ template<typename Scalar, int Dim, int Mode, int Options>
QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
{
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
+ if (Mode == int(AffineCompact))
return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
m_matrix.coeff(0,1), m_matrix.coeff(1,1),
m_matrix.coeff(0,2), m_matrix.coeff(1,2));
@@ -912,7 +912,7 @@ EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
- if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
+ if(int(Mode)==int(Projective))
affine() += other * m_matrix.row(Dim);
else
translation() += other;
diff --git a/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h b/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
index 1a86ff8..f68cab5 100644
--- a/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ b/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -16,17 +16,23 @@ namespace Eigen {
namespace internal {
template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
{
+ enum {
+ AAlignment = traits<Derived>::Alignment,
+ BAlignment = traits<OtherDerived>::Alignment,
+ ResAlignment = traits<Quaternion<float> >::Alignment
+ };
static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{
Quaternion<float> res;
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 a = _a.coeffs().template packet<AAlignment>(0);
+ __m128 b = _b.coeffs().template packet<BAlignment>(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(),
+ pstoret<float,Packet4f,ResAlignment>(
+ &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))),
@@ -36,14 +42,17 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
}
};
-template<class Derived, int Alignment>
-struct quat_conj<Architecture::SSE, Derived, float, Alignment>
+template<class Derived>
+struct quat_conj<Architecture::SSE, Derived, float>
{
+ enum {
+ ResAlignment = traits<Quaternion<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)));
+ pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
return res;
}
};
@@ -52,6 +61,9 @@ struct quat_conj<Architecture::SSE, Derived, float, Alignment>
template<typename VectorLhs,typename VectorRhs>
struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
{
+ enum {
+ ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
+ };
static inline typename plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
@@ -60,7 +72,7 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
__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));
+ pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
return res;
}
};
@@ -68,9 +80,14 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
-template<class Derived, class OtherDerived, int Alignment>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
{
+ enum {
+ BAlignment = traits<OtherDerived>::Alignment,
+ ResAlignment = traits<Quaternion<double> >::Alignment
+ };
+
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));
@@ -78,8 +95,8 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
Quaternion<double> res;
const double* a = _a.coeffs().data();
- Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
- Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
+ Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
+ Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
Packet2d a_xx = pset1<Packet2d>(a[0]);
Packet2d a_yy = pset1<Packet2d>(a[1]);
Packet2d a_zz = pset1<Packet2d>(a[2]);
@@ -97,9 +114,9 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
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)));
+ pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
#else
- pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
+ pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
#endif
/*
@@ -111,25 +128,28 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
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)));
+ pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
#else
- pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
+ pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
#endif
return res;
}
};
-template<class Derived, int Alignment>
-struct quat_conj<Architecture::SSE, Derived, double, Alignment>
+template<class Derived>
+struct quat_conj<Architecture::SSE, Derived, double>
{
+ enum {
+ ResAlignment = traits<Quaternion<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)));
+ pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
+ pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
return res;
}
};
generated by cgit v1.2.3 (git 2.39.1) at 2025-04-29 13:02:54 +0000