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167 lines
5.6 KiB
C++
167 lines
5.6 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) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GEOMETRY_SIMD_H
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#define EIGEN_GEOMETRY_SIMD_H
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namespace Eigen {
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namespace internal {
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template<class Derived, class OtherDerived>
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struct quat_product<Architecture::Target, Derived, OtherDerived, float>
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{
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enum {
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AAlignment = traits<Derived>::Alignment,
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BAlignment = traits<OtherDerived>::Alignment,
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ResAlignment = traits<Quaternion<float> >::Alignment
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};
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static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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evaluator<typename Derived::Coefficients> ae(_a.coeffs());
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evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
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Quaternion<float> res;
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float arr[4] = {0.f, 0.f, 0.f, -0.f};
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const Packet4f mask = pset<Packet4f>(arr);
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Packet4f a = ae.template packet<AAlignment,Packet4f>(0);
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Packet4f b = be.template packet<BAlignment,Packet4f>(0);
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Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
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Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
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pstoret<float,Packet4f,ResAlignment>(
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&res.x(),
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padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
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pmul(vec4f_swizzle1(a,2,0,1,0),
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vec4f_swizzle1(b,1,2,0,0))),
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pxor(mask,padd(s1,s2))));
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return res;
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}
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};
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template<class Derived>
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struct quat_conj<Architecture::Target, Derived, float>
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{
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enum {
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ResAlignment = traits<Quaternion<float> >::Alignment
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};
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static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
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{
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evaluator<typename Derived::Coefficients> qe(q.coeffs());
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Quaternion<float> res;
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float arr[4] = {-0.f,-0.f,-0.f,0.f};
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const Packet4f mask = pset<Packet4f>(arr);
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pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
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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 cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true>
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{
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enum {
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ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
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};
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static inline typename plain_matrix_type<VectorLhs>::type
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run(const VectorLhs& lhs, const VectorRhs& rhs)
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{
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evaluator<VectorLhs> lhs_eval(lhs);
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evaluator<VectorRhs> rhs_eval(rhs);
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Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0);
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Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0);
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Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
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Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
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typename plain_matrix_type<VectorLhs>::type res;
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pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
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return res;
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}
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};
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#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
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template<class Derived, class OtherDerived>
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struct quat_product<Architecture::Target, Derived, OtherDerived, double>
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{
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enum {
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BAlignment = traits<OtherDerived>::Alignment,
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ResAlignment = traits<Quaternion<double> >::Alignment
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};
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static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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Quaternion<double> res;
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evaluator<typename Derived::Coefficients> ae(_a.coeffs());
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evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
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const double* a = _a.coeffs().data();
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Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0);
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Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2);
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Packet2d a_xx = pset1<Packet2d>(a[0]);
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Packet2d a_yy = pset1<Packet2d>(a[1]);
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Packet2d a_zz = pset1<Packet2d>(a[2]);
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Packet2d a_ww = pset1<Packet2d>(a[3]);
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// two temporaries:
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Packet2d t1, t2;
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/*
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* t1 = ww*xy + yy*zw
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* t2 = zz*xy - xx*zw
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* res.xy = t1 +/- swap(t2)
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*/
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t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
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t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
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pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
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/*
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* t1 = ww*zw - yy*xy
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* t2 = zz*zw + xx*xy
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* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
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*/
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t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
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t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
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pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
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return res;
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}
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};
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template<class Derived>
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struct quat_conj<Architecture::Target, Derived, double>
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{
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enum {
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ResAlignment = traits<Quaternion<double> >::Alignment
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};
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static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
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{
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evaluator<typename Derived::Coefficients> qe(q.coeffs());
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Quaternion<double> res;
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const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
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double arr1[2] = {neg_zero, neg_zero};
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double arr2[2] = {neg_zero, 0.0};
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const Packet2d mask0 = pset<Packet2d>(arr1);
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const Packet2d mask2 = pset<Packet2d>(arr2);
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pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0)));
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pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2)));
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return res;
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}
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};
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#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
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} // end namespace internal
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} // end namespace Eigen
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#endif // EIGEN_GEOMETRY_SIMD_H
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