Geometry_SIMD.h (5945B)
1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> 5 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr> 6 // 7 // This Source Code Form is subject to the terms of the Mozilla 8 // Public License v. 2.0. If a copy of the MPL was not distributed 9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 11 #ifndef EIGEN_GEOMETRY_SIMD_H 12 #define EIGEN_GEOMETRY_SIMD_H 13 14 namespace Eigen { 15 16 namespace internal { 17 18 template<class Derived, class OtherDerived> 19 struct quat_product<Architecture::Target, Derived, OtherDerived, float> 20 { 21 enum { 22 AAlignment = traits<Derived>::Alignment, 23 BAlignment = traits<OtherDerived>::Alignment, 24 ResAlignment = traits<Quaternion<float> >::Alignment 25 }; 26 static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) 27 { 28 evaluator<typename Derived::Coefficients> ae(_a.coeffs()); 29 evaluator<typename OtherDerived::Coefficients> be(_b.coeffs()); 30 Quaternion<float> res; 31 const float neg_zero = numext::bit_cast<float>(0x80000000u); 32 const float arr[4] = {0.f, 0.f, 0.f, neg_zero}; 33 const Packet4f mask = ploadu<Packet4f>(arr); 34 Packet4f a = ae.template packet<AAlignment,Packet4f>(0); 35 Packet4f b = be.template packet<BAlignment,Packet4f>(0); 36 Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2)); 37 Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1)); 38 pstoret<float,Packet4f,ResAlignment>( 39 &res.x(), 40 padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)), 41 pmul(vec4f_swizzle1(a,2,0,1,0), 42 vec4f_swizzle1(b,1,2,0,0))), 43 pxor(mask,padd(s1,s2)))); 44 45 return res; 46 } 47 }; 48 49 template<class Derived> 50 struct quat_conj<Architecture::Target, Derived, float> 51 { 52 enum { 53 ResAlignment = traits<Quaternion<float> >::Alignment 54 }; 55 static inline Quaternion<float> run(const QuaternionBase<Derived>& q) 56 { 57 evaluator<typename Derived::Coefficients> qe(q.coeffs()); 58 Quaternion<float> res; 59 const float neg_zero = numext::bit_cast<float>(0x80000000u); 60 const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f}; 61 const Packet4f mask = ploadu<Packet4f>(arr); 62 pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0))); 63 return res; 64 } 65 }; 66 67 68 template<typename VectorLhs,typename VectorRhs> 69 struct cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true> 70 { 71 enum { 72 ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment 73 }; 74 static inline typename plain_matrix_type<VectorLhs>::type 75 run(const VectorLhs& lhs, const VectorRhs& rhs) 76 { 77 evaluator<VectorLhs> lhs_eval(lhs); 78 evaluator<VectorRhs> rhs_eval(rhs); 79 Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0); 80 Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0); 81 Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3)); 82 Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3)); 83 typename plain_matrix_type<VectorLhs>::type res; 84 pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2)); 85 return res; 86 } 87 }; 88 89 90 91 #if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64) 92 93 template<class Derived, class OtherDerived> 94 struct quat_product<Architecture::Target, Derived, OtherDerived, double> 95 { 96 enum { 97 BAlignment = traits<OtherDerived>::Alignment, 98 ResAlignment = traits<Quaternion<double> >::Alignment 99 }; 100 101 static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) 102 { 103 Quaternion<double> res; 104 105 evaluator<typename Derived::Coefficients> ae(_a.coeffs()); 106 evaluator<typename OtherDerived::Coefficients> be(_b.coeffs()); 107 108 const double* a = _a.coeffs().data(); 109 Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0); 110 Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2); 111 Packet2d a_xx = pset1<Packet2d>(a[0]); 112 Packet2d a_yy = pset1<Packet2d>(a[1]); 113 Packet2d a_zz = pset1<Packet2d>(a[2]); 114 Packet2d a_ww = pset1<Packet2d>(a[3]); 115 116 // two temporaries: 117 Packet2d t1, t2; 118 119 /* 120 * t1 = ww*xy + yy*zw 121 * t2 = zz*xy - xx*zw 122 * res.xy = t1 +/- swap(t2) 123 */ 124 t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw)); 125 t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw)); 126 pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2))); 127 128 /* 129 * t1 = ww*zw - yy*xy 130 * t2 = zz*zw + xx*xy 131 * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2) 132 */ 133 t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy)); 134 t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy)); 135 pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2))); 136 137 return res; 138 } 139 }; 140 141 template<class Derived> 142 struct quat_conj<Architecture::Target, Derived, double> 143 { 144 enum { 145 ResAlignment = traits<Quaternion<double> >::Alignment 146 }; 147 static inline Quaternion<double> run(const QuaternionBase<Derived>& q) 148 { 149 evaluator<typename Derived::Coefficients> qe(q.coeffs()); 150 Quaternion<double> res; 151 const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull); 152 const double arr1[2] = {neg_zero, neg_zero}; 153 const double arr2[2] = {neg_zero, 0.0}; 154 const Packet2d mask0 = ploadu<Packet2d>(arr1); 155 const Packet2d mask2 = ploadu<Packet2d>(arr2); 156 pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0))); 157 pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2))); 158 return res; 159 } 160 }; 161 162 #endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64 163 164 } // end namespace internal 165 166 } // end namespace Eigen 167 168 #endif // EIGEN_GEOMETRY_SIMD_H