11 #ifndef EIGEN_GEOMETRY_SSE_H 12 #define EIGEN_GEOMETRY_SSE_H 18 template<
class Derived,
class OtherDerived>
19 struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
22 AAlignment = traits<Derived>::Alignment,
23 BAlignment = traits<OtherDerived>::Alignment,
24 ResAlignment = traits<Quaternion<float> >::Alignment
26 static inline Quaternion<float> run(
const QuaternionBase<Derived>& _a,
const QuaternionBase<OtherDerived>& _b)
28 Quaternion<float> res;
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>(
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))));
45 template<
class Derived>
46 struct quat_conj<Architecture::SSE, Derived, float>
49 ResAlignment = traits<Quaternion<float> >::Alignment
51 static inline Quaternion<float> run(
const QuaternionBase<Derived>& q)
53 Quaternion<float> res;
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)));
61 template<
typename VectorLhs,
typename VectorRhs>
62 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
65 ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
67 static inline typename plain_matrix_type<VectorLhs>::type
68 run(
const VectorLhs& lhs,
const VectorRhs& rhs)
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));
74 typename plain_matrix_type<VectorLhs>::type res;
75 pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
83 template<
class Derived,
class OtherDerived>
84 struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
87 BAlignment = traits<OtherDerived>::Alignment,
88 ResAlignment = traits<Quaternion<double> >::Alignment
91 static inline Quaternion<double> run(
const QuaternionBase<Derived>& _a,
const QuaternionBase<OtherDerived>& _b)
93 const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
95 Quaternion<double> res;
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]);
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 116 EIGEN_UNUSED_VARIABLE(mask)
117 pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
119 pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
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 130 EIGEN_UNUSED_VARIABLE(mask)
131 pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
133 pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
140 template<
class Derived>
141 struct quat_conj<Architecture::SSE, Derived, double>
144 ResAlignment = traits<Quaternion<double> >::Alignment
146 static inline Quaternion<double> run(
const QuaternionBase<Derived>& q)
148 Quaternion<double> res;
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)));
161 #endif // EIGEN_GEOMETRY_SSE_H Namespace containing all symbols from the Eigen library.
Definition: Core:287
Definition: Eigen_Colamd.h:50