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Enable SSE vectorization of Quaternion and cross3() with AVX

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This commit is contained in:
Gael Guennebaud 2019-02-23 10:45:40 +01:00
parent 0b25a5c431
commit e409dbba14
2 changed files with 26 additions and 18 deletions
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5
Eigen/Geometry
View File

@ -49,9 +49,8 @@
#include "src/Geometry/AlignedBox.h"
#include "src/Geometry/Umeyama.h"
// Use the SSE optimized version whenever possible. At the moment the
// SSE version doesn't compile when AVX is enabled
#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
// Use the SSE optimized version whenever possible.
#if defined EIGEN_VECTORIZE_SSE
#include "src/Geometry/arch/Geometry_SSE.h"
#endif

39
Eigen/src/Geometry/arch/Geometry_SSE.h
View File

@ -25,10 +25,12 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
};
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 Packet4f mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
Packet4f a = _a.coeffs().template packet<AAlignment>(0);
Packet4f b = _b.coeffs().template packet<BAlignment>(0);
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>(
@ -50,9 +52,10 @@ struct quat_conj<Architecture::SSE, Derived, float>
};
static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
{
evaluator<typename Derived::Coefficients> qe(q.coeffs());
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)));
const Packet4f mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
return res;
}
};
@ -67,12 +70,14 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
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));
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(),_mm_sub_ps(mul1,mul2));
pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
return res;
}
};
@ -94,9 +99,12 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
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 = _b.coeffs().template packet<BAlignment>(0);
Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
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]);
@ -145,11 +153,12 @@ struct quat_conj<Architecture::SSE, Derived, double>
};
static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
{
evaluator<typename Derived::Coefficients> qe(q.coeffs());
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)));
const Packet2d mask0 = _mm_setr_pd(-0.,-0.);
const Packet2d mask2 = _mm_setr_pd(-0.,0.);
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;
}
};