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_SSE_H
12#define EIGEN_GEOMETRY_SSE_H
13
14namespace Eigen {
15
16namespace internal {
17
18template<class Derived, class OtherDerived>
19struct quat_product<Architecture::SSE, 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    Quaternion<float> res;
29    const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
30    __m128 a = _a.coeffs().template packet<AAlignment>(0);
31    __m128 b = _b.coeffs().template packet<BAlignment>(0);
32    __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
33    __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
34    pstoret<float,Packet4f,ResAlignment>(
35              &res.x(),
36              _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
37                                    _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
38                                               vec4f_swizzle1(b,1,2,0,0))),
39                         _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
40
41    return res;
42  }
43};
44
45template<class Derived>
46struct quat_conj<Architecture::SSE, Derived, float>
47{
48  enum {
49    ResAlignment = traits<Quaternion<float> >::Alignment
50  };
51  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
52  {
53    Quaternion<float> res;
54    const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
55    pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
56    return res;
57  }
58};
59
60
61template<typename VectorLhs,typename VectorRhs>
62struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
63{
64  enum {
65    ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
66  };
67  static inline typename plain_matrix_type<VectorLhs>::type
68  run(const VectorLhs& lhs, const VectorRhs& rhs)
69  {
70    __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
71    __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
72    __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
73    __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
74    typename plain_matrix_type<VectorLhs>::type res;
75    pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
76    return res;
77  }
78};
79
80
81
82
83template<class Derived, class OtherDerived>
84struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
85{
86  enum {
87    BAlignment = traits<OtherDerived>::Alignment,
88    ResAlignment = traits<Quaternion<double> >::Alignment
89  };
90
91  static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
92  {
93  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
94
95  Quaternion<double> res;
96
97  const double* a = _a.coeffs().data();
98  Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
99  Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
100  Packet2d a_xx = pset1<Packet2d>(a[0]);
101  Packet2d a_yy = pset1<Packet2d>(a[1]);
102  Packet2d a_zz = pset1<Packet2d>(a[2]);
103  Packet2d a_ww = pset1<Packet2d>(a[3]);
104
105  // two temporaries:
106  Packet2d t1, t2;
107
108  /*
109   * t1 = ww*xy + yy*zw
110   * t2 = zz*xy - xx*zw
111   * res.xy = t1 +/- swap(t2)
112   */
113  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
114  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
115#ifdef EIGEN_VECTORIZE_SSE3
116  EIGEN_UNUSED_VARIABLE(mask)
117  pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
118#else
119  pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
120#endif
121
122  /*
123   * t1 = ww*zw - yy*xy
124   * t2 = zz*zw + xx*xy
125   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
126   */
127  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
128  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
129#ifdef EIGEN_VECTORIZE_SSE3
130  EIGEN_UNUSED_VARIABLE(mask)
131  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
132#else
133  pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
134#endif
135
136  return res;
137}
138};
139
140template<class Derived>
141struct quat_conj<Architecture::SSE, Derived, double>
142{
143  enum {
144    ResAlignment = traits<Quaternion<double> >::Alignment
145  };
146  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
147  {
148    Quaternion<double> res;
149    const __m128d mask0 = _mm_setr_pd(-0.,-0.);
150    const __m128d mask2 = _mm_setr_pd(-0.,0.);
151    pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
152    pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
153    return res;
154  }
155};
156
157} // end namespace internal
158
159} // end namespace Eigen
160
161#endif // EIGEN_GEOMETRY_SSE_H
162