diff options
Diffstat (limited to 'Eigen/src/Geometry/arch/Geometry_SSE.h')
| -rw-r--r-- | Eigen/src/Geometry/arch/Geometry_SSE.h | 60 |
1 files changed, 40 insertions, 20 deletions
diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h index 1a86ff837..f68cab583 100644 --- a/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/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; } }; |