| // This file is part of Eigen, a lightweight C++ template library |
| // for linear algebra. |
| // |
| // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> |
| // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> |
| // |
| // This Source Code Form is subject to the terms of the Mozilla |
| // Public License v. 2.0. If a copy of the MPL was not distributed |
| // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. |
| |
| #ifndef EIGEN_GEOMETRY_SIMD_H |
| #define EIGEN_GEOMETRY_SIMD_H |
| |
| namespace Eigen { |
| |
| namespace internal { |
| |
| template<class Derived, class OtherDerived> |
| struct quat_product<Architecture::Target, Derived, OtherDerived, float> |
| { |
| enum { |
| AAlignment = traits<Derived>::Alignment, |
| BAlignment = traits<OtherDerived>::Alignment, |
| ResAlignment = traits<Quaternion<float> >::Alignment |
| }; |
| 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 float neg_zero = numext::bit_cast<float>(0x80000000u); |
| const float arr[4] = {0.f, 0.f, 0.f, neg_zero}; |
| const Packet4f mask = ploadu<Packet4f>(arr); |
| 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>( |
| &res.x(), |
| padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)), |
| pmul(vec4f_swizzle1(a,2,0,1,0), |
| vec4f_swizzle1(b,1,2,0,0))), |
| pxor(mask,padd(s1,s2)))); |
| |
| return res; |
| } |
| }; |
| |
| template<class Derived> |
| struct quat_conj<Architecture::Target, Derived, float> |
| { |
| enum { |
| ResAlignment = traits<Quaternion<float> >::Alignment |
| }; |
| static inline Quaternion<float> run(const QuaternionBase<Derived>& q) |
| { |
| evaluator<typename Derived::Coefficients> qe(q.coeffs()); |
| Quaternion<float> res; |
| const float neg_zero = numext::bit_cast<float>(0x80000000u); |
| const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f}; |
| const Packet4f mask = ploadu<Packet4f>(arr); |
| pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0))); |
| return res; |
| } |
| }; |
| |
| |
| template<typename VectorLhs,typename VectorRhs> |
| struct cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true> |
| { |
| enum { |
| ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment |
| }; |
| static inline typename plain_matrix_type<VectorLhs>::type |
| run(const VectorLhs& lhs, const VectorRhs& rhs) |
| { |
| 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(),psub(mul1,mul2)); |
| return res; |
| } |
| }; |
| |
| |
| |
| #if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64) |
| |
| template<class Derived, class OtherDerived> |
| struct quat_product<Architecture::Target, Derived, OtherDerived, double> |
| { |
| enum { |
| BAlignment = traits<OtherDerived>::Alignment, |
| ResAlignment = traits<Quaternion<double> >::Alignment |
| }; |
| |
| static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) |
| { |
| 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 = 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]); |
| Packet2d a_ww = pset1<Packet2d>(a[3]); |
| |
| // two temporaries: |
| Packet2d t1, t2; |
| |
| /* |
| * t1 = ww*xy + yy*zw |
| * t2 = zz*xy - xx*zw |
| * res.xy = t1 +/- swap(t2) |
| */ |
| t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); |
| t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); |
| pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2))); |
| |
| /* |
| * t1 = ww*zw - yy*xy |
| * t2 = zz*zw + xx*xy |
| * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) |
| */ |
| t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); |
| t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); |
| pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2))); |
| |
| return res; |
| } |
| }; |
| |
| template<class Derived> |
| struct quat_conj<Architecture::Target, Derived, double> |
| { |
| enum { |
| ResAlignment = traits<Quaternion<double> >::Alignment |
| }; |
| static inline Quaternion<double> run(const QuaternionBase<Derived>& q) |
| { |
| evaluator<typename Derived::Coefficients> qe(q.coeffs()); |
| Quaternion<double> res; |
| const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull); |
| const double arr1[2] = {neg_zero, neg_zero}; |
| const double arr2[2] = {neg_zero, 0.0}; |
| const Packet2d mask0 = ploadu<Packet2d>(arr1); |
| const Packet2d mask2 = ploadu<Packet2d>(arr2); |
| 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; |
| } |
| }; |
| |
| #endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64 |
| |
| } // end namespace internal |
| |
| } // end namespace Eigen |
| |
| #endif // EIGEN_GEOMETRY_SIMD_H |