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Diffstat (limited to 'Eigen/src/Geometry/arch/Geometry_SIMD.h')
| -rw-r--r-- | Eigen/src/Geometry/arch/Geometry_SIMD.h | 168 |
1 files changed, 168 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/arch/Geometry_SIMD.h b/Eigen/src/Geometry/arch/Geometry_SIMD.h new file mode 100644 index 000000000..9af6a9af7 --- /dev/null +++ b/Eigen/src/Geometry/arch/Geometry_SIMD.h @@ -0,0 +1,168 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> +// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef EIGEN_GEOMETRY_SIMD_H +#define EIGEN_GEOMETRY_SIMD_H + +namespace Eigen { + +namespace internal { + +template<class Derived, class OtherDerived> +struct quat_product<Architecture::Target, 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) + { + evaluator<typename Derived::Coefficients> ae(_a.coeffs()); + evaluator<typename OtherDerived::Coefficients> be(_b.coeffs()); + Quaternion<float> res; + const float neg_zero = numext::bit_cast<float>(0x80000000u); + const float arr[4] = {0.f, 0.f, 0.f, neg_zero}; + const Packet4f mask = ploadu<Packet4f>(arr); + Packet4f a = ae.template packet<AAlignment,Packet4f>(0); + Packet4f b = be.template packet<BAlignment,Packet4f>(0); + Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); + Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); + pstoret<float,Packet4f,ResAlignment>( + &res.x(), + padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)), + pmul(vec4f_swizzle1(a,2,0,1,0), + vec4f_swizzle1(b,1,2,0,0))), + pxor(mask,padd(s1,s2)))); + + return res; + } +}; + +template<class Derived> +struct quat_conj<Architecture::Target, Derived, float> +{ + enum { + ResAlignment = traits<Quaternion<float> >::Alignment + }; + static inline Quaternion<float> run(const QuaternionBase<Derived>& q) + { + evaluator<typename Derived::Coefficients> qe(q.coeffs()); + Quaternion<float> res; + const float neg_zero = numext::bit_cast<float>(0x80000000u); + const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f}; + const Packet4f mask = ploadu<Packet4f>(arr); + pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0))); + return res; + } +}; + + +template<typename VectorLhs,typename VectorRhs> +struct cross3_impl<Architecture::Target,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) + { + evaluator<VectorLhs> lhs_eval(lhs); + evaluator<VectorRhs> rhs_eval(rhs); + Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0); + Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0); + Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); + Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); + typename plain_matrix_type<VectorLhs>::type res; + pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2)); + return res; + } +}; + + + +#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64) + +template<class Derived, class OtherDerived> +struct quat_product<Architecture::Target, 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) + { + Quaternion<double> res; + + evaluator<typename Derived::Coefficients> ae(_a.coeffs()); + evaluator<typename OtherDerived::Coefficients> be(_b.coeffs()); + + const double* a = _a.coeffs().data(); + Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0); + Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2); + Packet2d a_xx = pset1<Packet2d>(a[0]); + Packet2d a_yy = pset1<Packet2d>(a[1]); + Packet2d a_zz = pset1<Packet2d>(a[2]); + Packet2d a_ww = pset1<Packet2d>(a[3]); + + // two temporaries: + Packet2d t1, t2; + + /* + * t1 = ww*xy + yy*zw + * t2 = zz*xy - xx*zw + * res.xy = t1 +/- swap(t2) + */ + t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); + t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); + pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2))); + + /* + * t1 = ww*zw - yy*xy + * t2 = zz*zw + xx*xy + * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) + */ + t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); + t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); + pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2))); + + return res; +} +}; + +template<class Derived> +struct quat_conj<Architecture::Target, Derived, double> +{ + enum { + ResAlignment = traits<Quaternion<double> >::Alignment + }; + static inline Quaternion<double> run(const QuaternionBase<Derived>& q) + { + evaluator<typename Derived::Coefficients> qe(q.coeffs()); + Quaternion<double> res; + const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull); + const double arr1[2] = {neg_zero, neg_zero}; + const double arr2[2] = {neg_zero, 0.0}; + const Packet2d mask0 = ploadu<Packet2d>(arr1); + const Packet2d mask2 = ploadu<Packet2d>(arr2); + pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0))); + pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2))); + return res; + } +}; + +#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64 + +} // end namespace internal + +} // end namespace Eigen + +#endif // EIGEN_GEOMETRY_SIMD_H |