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First step towards a generic vectorised quaternion product

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Gael Guennebaud 2018-06-25 14:26:51 +02:00
parent ee5864f72e
commit f9d337780d
1 changed files with 8 additions and 8 deletions
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16
Eigen/src/Geometry/arch/Geometry_SSE.h
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@ -26,17 +26,17 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{ {
Quaternion<float> res; Quaternion<float> res;
const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f); const Packet4f mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
__m128 a = _a.coeffs().template packet<AAlignment>(0); Packet4f a = _a.coeffs().template packet<AAlignment>(0);
__m128 b = _b.coeffs().template packet<BAlignment>(0); Packet4f 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)); Packet4f s1 = pmul(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)); Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
pstoret<float,Packet4f,ResAlignment>( pstoret<float,Packet4f,ResAlignment>(
&res.x(), &res.x(),
_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)), padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
_mm_mul_ps(vec4f_swizzle1(a,2,0,1,0), pmul(vec4f_swizzle1(a,2,0,1,0),
vec4f_swizzle1(b,1,2,0,0))), vec4f_swizzle1(b,1,2,0,0))),
_mm_xor_ps(mask,_mm_add_ps(s1,s2)))); pxor(mask,padd(s1,s2))));
return res; return res;
} }