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-rw-r--r--Eigen/src/Geometry/arch/Geometry_SIMD.h168
-rw-r--r--Eigen/src/Geometry/arch/Geometry_SSE.h161
2 files changed, 168 insertions, 161 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
diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h
deleted file mode 100644
index f68cab583..000000000
--- a/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ /dev/null
@@ -1,161 +0,0 @@
-// 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_SSE_H
-#define EIGEN_GEOMETRY_SSE_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<class Derived, class OtherDerived>
-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<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));
- 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))),
- _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
-
- return res;
- }
-};
-
-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);
- pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
- return res;
- }
-};
-
-
-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)
- {
- __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
- __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
- __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;
- pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
- return res;
- }
-};
-
-
-
-
-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));
-
- Quaternion<double> res;
-
- const double* a = _a.coeffs().data();
- 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]);
- 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));
-#ifdef EIGEN_VECTORIZE_SSE3
- EIGEN_UNUSED_VARIABLE(mask)
- pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
-#else
- pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
-#endif
-
- /*
- * 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));
-#ifdef EIGEN_VECTORIZE_SSE3
- EIGEN_UNUSED_VARIABLE(mask)
- pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
-#else
- pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
-#endif
-
- return res;
-}
-};
-
-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.);
- 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;
- }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GEOMETRY_SSE_H
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