1 | // This file is part of Eigen, a lightweight C++ template library |
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2 | // for linear algebra. |
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3 | // |
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4 | // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> |
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5 | // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> |
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6 | // |
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7 | // This Source Code Form is subject to the terms of the Mozilla |
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8 | // Public License v. 2.0. If a copy of the MPL was not distributed |
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9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. |
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10 | |
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11 | #ifndef EIGEN_GEOMETRY_SSE_H |
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12 | #define EIGEN_GEOMETRY_SSE_H |
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13 | |
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14 | namespace Eigen { |
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15 | |
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16 | namespace internal { |
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17 | |
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18 | template<class Derived, class OtherDerived> |
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19 | struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned> |
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20 | { |
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21 | static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) |
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22 | { |
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23 | const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); |
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24 | Quaternion<float> res; |
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25 | __m128 a = _a.coeffs().template packet<Aligned>(0); |
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26 | __m128 b = _b.coeffs().template packet<Aligned>(0); |
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27 | __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2), |
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28 | vec4f_swizzle1(b,2,0,1,2)),mask); |
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29 | __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1), |
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30 | vec4f_swizzle1(b,0,1,2,1)),mask); |
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31 | pstore(&res.x(), |
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32 | _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)), |
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33 | _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0), |
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34 | vec4f_swizzle1(b,1,2,0,0))), |
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35 | _mm_add_ps(flip1,flip2))); |
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36 | return res; |
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37 | } |
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38 | }; |
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39 | |
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40 | template<typename VectorLhs,typename VectorRhs> |
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41 | struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> |
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42 | { |
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43 | static inline typename plain_matrix_type<VectorLhs>::type |
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44 | run(const VectorLhs& lhs, const VectorRhs& rhs) |
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45 | { |
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46 | __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0); |
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47 | __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0); |
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48 | __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); |
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49 | __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); |
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50 | typename plain_matrix_type<VectorLhs>::type res; |
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51 | pstore(&res.x(),_mm_sub_ps(mul1,mul2)); |
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52 | return res; |
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53 | } |
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54 | }; |
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55 | |
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56 | |
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57 | |
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58 | |
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59 | template<class Derived, class OtherDerived> |
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60 | struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> |
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61 | { |
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62 | static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) |
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63 | { |
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64 | const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0)); |
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65 | |
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66 | Quaternion<double> res; |
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67 | |
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68 | const double* a = _a.coeffs().data(); |
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69 | Packet2d b_xy = _b.coeffs().template packet<Aligned>(0); |
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70 | Packet2d b_zw = _b.coeffs().template packet<Aligned>(2); |
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71 | Packet2d a_xx = pset1<Packet2d>(a[0]); |
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72 | Packet2d a_yy = pset1<Packet2d>(a[1]); |
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73 | Packet2d a_zz = pset1<Packet2d>(a[2]); |
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74 | Packet2d a_ww = pset1<Packet2d>(a[3]); |
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75 | |
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76 | // two temporaries: |
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77 | Packet2d t1, t2; |
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78 | |
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79 | /* |
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80 | * t1 = ww*xy + yy*zw |
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81 | * t2 = zz*xy - xx*zw |
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82 | * res.xy = t1 +/- swap(t2) |
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83 | */ |
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84 | t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); |
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85 | t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); |
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86 | #ifdef EIGEN_VECTORIZE_SSE3 |
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87 | EIGEN_UNUSED_VARIABLE(mask) |
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88 | pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2))); |
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89 | #else |
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90 | pstore(&res.x(), padd(t1, pxor(mask,preverse(t2)))); |
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91 | #endif |
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92 | |
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93 | /* |
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94 | * t1 = ww*zw - yy*xy |
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95 | * t2 = zz*zw + xx*xy |
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96 | * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) |
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97 | */ |
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98 | t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); |
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99 | t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); |
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100 | #ifdef EIGEN_VECTORIZE_SSE3 |
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101 | EIGEN_UNUSED_VARIABLE(mask) |
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102 | pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2))); |
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103 | #else |
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104 | pstore(&res.z(), psub(t1, pxor(mask,preverse(t2)))); |
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105 | #endif |
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106 | |
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107 | return res; |
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108 | } |
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109 | }; |
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110 | |
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111 | } // end namespace internal |
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112 | |
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113 | } // end namespace Eigen |
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114 | |
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115 | #endif // EIGEN_GEOMETRY_SSE_H |
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