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
14namespace Eigen {
15
16namespace internal {
17
18template<class Derived, class OtherDerived>
19struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
20{
21 enum {
22 AAlignment = traits<Derived>::Alignment,
23 BAlignment = traits<OtherDerived>::Alignment,
24 ResAlignment = traits<Quaternion<float> >::Alignment
25 };
26 static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
27 {
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>(
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
45template<class Derived>
46struct quat_conj<Architecture::SSE, Derived, float>
47{
48 enum {
49 ResAlignment = traits<Quaternion<float> >::Alignment
50 };
51 static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
52 {
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)));
56 return res;
57 }
58};
59
60
61template<typename VectorLhs,typename VectorRhs>
62struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
63{
64 enum {
65 ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
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));
74 typename plain_matrix_type<VectorLhs>::type res;
75 pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
76 return res;
77 }
78};
79
80
81
82
83template<class Derived, class OtherDerived>
84struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
85{
86 enum {
87 BAlignment = traits<OtherDerived>::Alignment,
88 ResAlignment = traits<Quaternion<double> >::Alignment
89 };
90
91 static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
92 {
93 const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
94
95 Quaternion<double> res;
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
116 EIGEN_UNUSED_VARIABLE(mask)
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
130 EIGEN_UNUSED_VARIABLE(mask)
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
140template<class Derived>
141struct quat_conj<Architecture::SSE, Derived, double>
142{
143 enum {
144 ResAlignment = traits<Quaternion<double> >::Alignment
145 };
146 static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
147 {
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)));
153 return res;
154 }
155};
156
157} // end namespace internal
158
159} // end namespace Eigen
160
161#endif // EIGEN_GEOMETRY_SSE_H
162