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6219f9acfa
* add Copyright line for Mathieu * cast() was broken (compile errors) and needed anyway to be in QuaternionBase * it's VectorBlock<T,3>, don't pass additional parameter 1, it has different meaning!! * make it compile with GCC (put 'typename' at the right location)
66 lines
3.0 KiB
C++
66 lines
3.0 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
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// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#ifndef EIGEN_GEOMETRY_SSE_H
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#define EIGEN_GEOMETRY_SSE_H
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template<class Derived, class OtherDerived> struct ei_quat_product<EiArch_SSE, Derived, OtherDerived, float, Aligned>
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{
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inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
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Quaternion<float> res;
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__m128 a = _a.coeffs().packet<Aligned>(0);
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__m128 b = _b.coeffs().packet<Aligned>(0);
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__m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
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ei_vec4f_swizzle1(b,2,0,1,2)),mask);
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__m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
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ei_vec4f_swizzle1(b,0,1,2,1)),mask);
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ei_pstore(&res.x(),
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_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
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_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
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ei_vec4f_swizzle1(b,1,2,0,0))),
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_mm_add_ps(flip1,flip2)));
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return res;
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}
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};
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template<typename VectorLhs,typename VectorRhs>
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struct ei_cross3_impl<EiArch_SSE,VectorLhs,VectorRhs,float,true> {
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inline static typename ei_plain_matrix_type<VectorLhs>::type
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run(const VectorLhs& lhs, const VectorRhs& rhs)
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{
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__m128 a = lhs.coeffs().packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
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__m128 b = rhs.coeffs().packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
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__m128 mul1=_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,3),ei_vec4f_swizzle1(b,2,0,1,3));
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__m128 mul2=_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,3),ei_vec4f_swizzle1(b,1,2,0,3));
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typename ei_plain_matrix_type<VectorLhs>::type res;
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ei_pstore(&res.x(),_mm_sub_ps(mul1,mul2));
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return res;
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}
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};
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#endif // EIGEN_GEOMETRY_SSE_H
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