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Implemented SSE optimized double-precision Quaternion multiplication

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This commit is contained in:
Christoph Hertzberg 2010-07-12 23:30:47 +02:00
parent c36316f284
commit 6ba5d2c90c
1 changed files with 54 additions and 0 deletions
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54
Eigen/src/Geometry/arch/Geometry_SSE.h
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@ -64,4 +64,58 @@ struct ei_cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
}
};
template<class Derived, class OtherDerived>
struct ei_quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
{
inline static 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<Aligned>(0);
Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
Packet2d a_xx = ei_pset1(a[0]);
Packet2d a_yy = ei_pset1(a[1]);
Packet2d a_zz = ei_pset1(a[2]);
Packet2d a_ww = ei_pset1(a[3]);
// two temporaries:
Packet2d t1, t2;
/*
* t1 = ww*xy + yy*zw
* t2 = zz*xy - xx*zw
* res.xy = t1 +/- swap(t2)
*/
t1 = ei_padd(ei_pmul(a_ww, b_xy), ei_pmul(a_yy, b_zw));
t2 = ei_psub(ei_pmul(a_zz, b_xy), ei_pmul(a_xx, b_zw));
#ifdef __SSE3__
ei_pstore(&res.x(), _mm_addsub_pd(t1, ei_preverse(t2)));
#else
ei_pstore(&res.x(), ei_padd(t1, ei_pxor(mask,ei_preverse(t2))));
#endif
/*
* t1 = ww*zw - yy*xy
* t2 = zz*zw + xx*xy
* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
*/
t1 = ei_psub(ei_pmul(a_ww, b_zw), ei_pmul(a_yy, b_xy));
t2 = ei_padd(ei_pmul(a_zz, b_zw), ei_pmul(a_xx, b_xy));
#ifdef __SSE3__
ei_pstore(&res.z(), ei_preverse(_mm_addsub_pd(ei_preverse(t1), t2)));
#else
ei_pstore(&res.z(), ei_psub(t1, ei_pxor(mask,ei_preverse(t2))));
#endif
return res;
}
};
#endif // EIGEN_GEOMETRY_SSE_H