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<h1>Geometry_SSE.h</h1> </div>
</div>
<div class="contents">
<a href="_geometry___s_s_e_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span>
<a name="l00002"></a>00002 <span class="comment">// for linear algebra.</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com></span>
<a name="l00005"></a>00005 <span class="comment">// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr></span>
<a name="l00006"></a>00006 <span class="comment">//</span>
<a name="l00007"></a>00007 <span class="comment">// Eigen is free software; you can redistribute it and/or</span>
<a name="l00008"></a>00008 <span class="comment">// modify it under the terms of the GNU Lesser General Public</span>
<a name="l00009"></a>00009 <span class="comment">// License as published by the Free Software Foundation; either</span>
<a name="l00010"></a>00010 <span class="comment">// version 3 of the License, or (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment">//</span>
<a name="l00012"></a>00012 <span class="comment">// Alternatively, you can redistribute it and/or</span>
<a name="l00013"></a>00013 <span class="comment">// modify it under the terms of the GNU General Public License as</span>
<a name="l00014"></a>00014 <span class="comment">// published by the Free Software Foundation; either version 2 of</span>
<a name="l00015"></a>00015 <span class="comment">// the License, or (at your option) any later version.</span>
<a name="l00016"></a>00016 <span class="comment">//</span>
<a name="l00017"></a>00017 <span class="comment">// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY</span>
<a name="l00018"></a>00018 <span class="comment">// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS</span>
<a name="l00019"></a>00019 <span class="comment">// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the</span>
<a name="l00020"></a>00020 <span class="comment">// GNU General Public License for more details.</span>
<a name="l00021"></a>00021 <span class="comment">//</span>
<a name="l00022"></a>00022 <span class="comment">// You should have received a copy of the GNU Lesser General Public</span>
<a name="l00023"></a>00023 <span class="comment">// License and a copy of the GNU General Public License along with</span>
<a name="l00024"></a>00024 <span class="comment">// Eigen. If not, see <http://www.gnu.org/licenses/>.</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#ifndef EIGEN_GEOMETRY_SSE_H</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_GEOMETRY_SSE_H</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span>
<a name="l00029"></a>00029 <span class="keyword">namespace </span>internal {
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="keyword">template</span><<span class="keyword">class</span> Derived, <span class="keyword">class</span> OtherDerived>
<a name="l00032"></a><a class="code" href="structinternal_1_1quat__product_3_01_architecture_1_1_s_s_e_00_01_derived_00_01_other_derived_00_01float_00_01_aligned_01_4.html">00032</a> <span class="keyword">struct </span><a class="code" href="structinternal_1_1quat__product.html">quat_product</a><Architecture::<a class="code" href="namespace_architecture.html#a7ae6186419ae33e4d9019df7b18d883eacf916373493ba18a1f5ccbd06bdbe3ff">SSE</a>, Derived, OtherDerived, float, <a class="code" href="_constants_8h.html#ae91638596a8955da23581d7ad008e295ad5380ca00f3d74b38593adf8a0d06d3e">Aligned</a>>
<a name="l00033"></a>00033 {
<a name="l00034"></a><a class="code" href="structinternal_1_1quat__product_3_01_architecture_1_1_s_s_e_00_01_derived_00_01_other_derived_00_01float_00_01_aligned_01_4.html#a80908e228c3c48895ebec5bd035236a6">00034</a> <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code" href="class_quaternion.html">Quaternion<float></a> <a class="code" href="structinternal_1_1quat__product.html#a7138585c72fdbd958654514a595ac48e">run</a>(<span class="keyword">const</span> <a class="code" href="class_quaternion_base.html">QuaternionBase<Derived></a>& _a, <span class="keyword">const</span> <a class="code" href="class_quaternion_base.html">QuaternionBase<OtherDerived></a>& _b)
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">const</span> __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
<a name="l00037"></a>00037 <a class="code" href="class_quaternion.html">Quaternion<float></a> res;
<a name="l00038"></a>00038 __m128 a = _a.<a class="code" href="class_quaternion_base.html#a6239baa101cb7a9ad6b64b08af7f0641">coeffs</a>().template packet<Aligned>(0);
<a name="l00039"></a>00039 __m128 b = _b.<a class="code" href="class_quaternion_base.html#a6239baa101cb7a9ad6b64b08af7f0641">coeffs</a>().template packet<Aligned>(0);
<a name="l00040"></a>00040 __m128 flip1 = _mm_xor_ps(_mm_mul_ps(<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(a,1,2,0,2),
<a name="l00041"></a>00041 <a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,2,0,1,2)),mask);
<a name="l00042"></a>00042 __m128 flip2 = _mm_xor_ps(_mm_mul_ps(<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(a,3,3,3,1),
<a name="l00043"></a>00043 <a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,0,1,2,1)),mask);
<a name="l00044"></a>00044 <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.<a class="code" href="class_quaternion_base.html#a8ec8aad4ea510b432b86f7316c22553d">x</a>(),
<a name="l00045"></a>00045 _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,3,3,3,3)),
<a name="l00046"></a>00046 _mm_mul_ps(<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(a,2,0,1,0),
<a name="l00047"></a>00047 <a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,1,2,0,0))),
<a name="l00048"></a>00048 _mm_add_ps(flip1,flip2)));
<a name="l00049"></a>00049 <span class="keywordflow">return</span> res;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051 };
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keyword">template</span><<span class="keyword">typename</span> VectorLhs,<span class="keyword">typename</span> VectorRhs>
<a name="l00054"></a><a class="code" href="structinternal_1_1cross3__impl_3_01_architecture_1_1_s_s_e_00_01_vector_lhs_00_01_vector_rhs_00_01float_00_01true_01_4.html">00054</a> <span class="keyword">struct </span><a class="code" href="structinternal_1_1cross3__impl.html">cross3_impl</a><Architecture::<a class="code" href="namespace_architecture.html#a7ae6186419ae33e4d9019df7b18d883eacf916373493ba18a1f5ccbd06bdbe3ff">SSE</a>,VectorLhs,VectorRhs,float,true>
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keyword">typename</span> plain_matrix_type<VectorLhs>::type
<a name="l00057"></a><a class="code" href="structinternal_1_1cross3__impl_3_01_architecture_1_1_s_s_e_00_01_vector_lhs_00_01_vector_rhs_00_01float_00_01true_01_4.html#a0d7f556fd7fa8b95725df5ccd402f63b">00057</a> <a class="code" href="structinternal_1_1cross3__impl.html#a53612cae78727fa7c8ff77bab62d0ae6">run</a>(<span class="keyword">const</span> VectorLhs& lhs, <span class="keyword">const</span> VectorRhs& rhs)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
<a name="l00060"></a>00060 __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
<a name="l00061"></a>00061 __m128 mul1=_mm_mul_ps(<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(a,1,2,0,3),<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,2,0,1,3));
<a name="l00062"></a>00062 __m128 mul2=_mm_mul_ps(<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(a,2,0,1,3),<a class="code" href="_s_s_e_2_packet_math_8h.html#a387a69c0be53c7bd70e93cf4a54c16b2">vec4f_swizzle1</a>(b,1,2,0,3));
<a name="l00063"></a>00063 <span class="keyword">typename</span> plain_matrix_type<VectorLhs>::type res;
<a name="l00064"></a>00064 <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.x(),_mm_sub_ps(mul1,mul2));
<a name="l00065"></a>00065 <span class="keywordflow">return</span> res;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067 };
<a name="l00068"></a>00068
<a name="l00069"></a>00069
<a name="l00070"></a>00070
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keyword">template</span><<span class="keyword">class</span> Derived, <span class="keyword">class</span> OtherDerived>
<a name="l00073"></a><a class="code" href="structinternal_1_1quat__product_3_01_architecture_1_1_s_s_e_00_01_derived_00_01_other_derived_00_01double_00_01_aligned_01_4.html">00073</a> <span class="keyword">struct </span><a class="code" href="structinternal_1_1quat__product.html">quat_product</a><Architecture::<a class="code" href="namespace_architecture.html#a7ae6186419ae33e4d9019df7b18d883eacf916373493ba18a1f5ccbd06bdbe3ff">SSE</a>, Derived, OtherDerived, double, <a class="code" href="_constants_8h.html#ae91638596a8955da23581d7ad008e295ad5380ca00f3d74b38593adf8a0d06d3e">Aligned</a>>
<a name="l00074"></a>00074 {
<a name="l00075"></a><a class="code" href="structinternal_1_1quat__product_3_01_architecture_1_1_s_s_e_00_01_derived_00_01_other_derived_00_01double_00_01_aligned_01_4.html#a19dba9c79ee33df8a48b8a733bc611db">00075</a> <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code" href="class_quaternion.html">Quaternion<double></a> <a class="code" href="structinternal_1_1quat__product.html#a7138585c72fdbd958654514a595ac48e">run</a>(<span class="keyword">const</span> <a class="code" href="class_quaternion_base.html">QuaternionBase<Derived></a>& _a, <span class="keyword">const</span> <a class="code" href="class_quaternion_base.html">QuaternionBase<OtherDerived></a>& _b)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <span class="keyword">const</span> <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <a class="code" href="class_quaternion.html">Quaternion<double></a> res;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keyword">const</span> <span class="keywordtype">double</span>* a = _a.<a class="code" href="class_quaternion_base.html#a6239baa101cb7a9ad6b64b08af7f0641">coeffs</a>().data();
<a name="l00082"></a>00082 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> b_xy = _b.<a class="code" href="class_quaternion_base.html#a6239baa101cb7a9ad6b64b08af7f0641">coeffs</a>().template packet<Aligned>(0);
<a name="l00083"></a>00083 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> b_zw = _b.<a class="code" href="class_quaternion_base.html#a6239baa101cb7a9ad6b64b08af7f0641">coeffs</a>().template packet<Aligned>(2);
<a name="l00084"></a>00084 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> a_xx = <a class="code" href="namespaceinternal.html#a18e22cd9d73edc221a6c133385342b5a">pset1<Packet2d></a>(a[0]);
<a name="l00085"></a>00085 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> a_yy = <a class="code" href="namespaceinternal.html#a18e22cd9d73edc221a6c133385342b5a">pset1<Packet2d></a>(a[1]);
<a name="l00086"></a>00086 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> a_zz = <a class="code" href="namespaceinternal.html#a18e22cd9d73edc221a6c133385342b5a">pset1<Packet2d></a>(a[2]);
<a name="l00087"></a>00087 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> a_ww = <a class="code" href="namespaceinternal.html#a18e22cd9d73edc221a6c133385342b5a">pset1<Packet2d></a>(a[3]);
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">// two temporaries:</span>
<a name="l00090"></a>00090 <a class="code" href="namespaceinternal.html#ab45d8185934f887ac19b59fb7a8c98ec">Packet2d</a> t1, t2;
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">/*</span>
<a name="l00093"></a>00093 <span class="comment"> * t1 = ww*xy + yy*zw</span>
<a name="l00094"></a>00094 <span class="comment"> * t2 = zz*xy - xx*zw</span>
<a name="l00095"></a>00095 <span class="comment"> * res.xy = t1 +/- swap(t2)</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 t1 = <a class="code" href="namespaceinternal.html#a420c82c353220c886c43f32009a190e4">padd</a>(<a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_ww, b_xy), <a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_yy, b_zw));
<a name="l00098"></a>00098 t2 = <a class="code" href="namespaceinternal.html#a4ac22ccfec491d42d8f0c3fc47d7e0ba">psub</a>(<a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_zz, b_xy), <a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_xx, b_zw));
<a name="l00099"></a>00099 <span class="preprocessor">#ifdef __SSE3__</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span> <a class="code" href="_macros_8h.html#a7cf6d5b460def34dc4e6acf42889b6a9">EIGEN_UNUSED_VARIABLE</a>(mask)
<a name="l00101"></a>00101 <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.<a class="code" href="class_quaternion_base.html#a8ec8aad4ea510b432b86f7316c22553d">x</a>(), _mm_addsub_pd(t1, <a class="code" href="namespaceinternal.html#a535a50dc8eca3732fdde3595397529bc">preverse</a>(t2)));
<a name="l00102"></a>00102 <span class="preprocessor">#else</span>
<a name="l00103"></a>00103 <span class="preprocessor"></span> <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.<a class="code" href="class_quaternion_base.html#a8ec8aad4ea510b432b86f7316c22553d">x</a>(), <a class="code" href="namespaceinternal.html#a420c82c353220c886c43f32009a190e4">padd</a>(t1, <a class="code" href="namespaceinternal.html#a15753fe70da84a9556510ce7f9b87855">pxor</a>(mask,<a class="code" href="namespaceinternal.html#a535a50dc8eca3732fdde3595397529bc">preverse</a>(t2))));
<a name="l00104"></a>00104 <span class="preprocessor">#endif</span>
<a name="l00105"></a>00105 <span class="preprocessor"></span>
<a name="l00106"></a>00106 <span class="comment">/*</span>
<a name="l00107"></a>00107 <span class="comment"> * t1 = ww*zw - yy*xy</span>
<a name="l00108"></a>00108 <span class="comment"> * t2 = zz*zw + xx*xy</span>
<a name="l00109"></a>00109 <span class="comment"> * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a>00111 t1 = <a class="code" href="namespaceinternal.html#a4ac22ccfec491d42d8f0c3fc47d7e0ba">psub</a>(<a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_ww, b_zw), <a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_yy, b_xy));
<a name="l00112"></a>00112 t2 = <a class="code" href="namespaceinternal.html#a420c82c353220c886c43f32009a190e4">padd</a>(<a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_zz, b_zw), <a class="code" href="namespaceinternal.html#a0193dc8fa17d13ef68cc74284b5a0c14">pmul</a>(a_xx, b_xy));
<a name="l00113"></a>00113 <span class="preprocessor">#ifdef __SSE3__</span>
<a name="l00114"></a>00114 <span class="preprocessor"></span> <a class="code" href="_macros_8h.html#a7cf6d5b460def34dc4e6acf42889b6a9">EIGEN_UNUSED_VARIABLE</a>(mask)
<a name="l00115"></a>00115 <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.<a class="code" href="class_quaternion_base.html#a4688dc50df0cfa06399f27097dc0e77c">z</a>(), <a class="code" href="namespaceinternal.html#a535a50dc8eca3732fdde3595397529bc">preverse</a>(_mm_addsub_pd(<a class="code" href="namespaceinternal.html#a535a50dc8eca3732fdde3595397529bc">preverse</a>(t1), t2)));
<a name="l00116"></a>00116 <span class="preprocessor">#else</span>
<a name="l00117"></a>00117 <span class="preprocessor"></span> <a class="code" href="namespaceinternal.html#a03993e8d9064d4bd92521efc98b16ed0">pstore</a>(&res.<a class="code" href="class_quaternion_base.html#a4688dc50df0cfa06399f27097dc0e77c">z</a>(), <a class="code" href="namespaceinternal.html#a4ac22ccfec491d42d8f0c3fc47d7e0ba">psub</a>(t1, <a class="code" href="namespaceinternal.html#a15753fe70da84a9556510ce7f9b87855">pxor</a>(mask,<a class="code" href="namespaceinternal.html#a535a50dc8eca3732fdde3595397529bc">preverse</a>(t2))));
<a name="l00118"></a>00118 <span class="preprocessor">#endif</span>
<a name="l00119"></a>00119 <span class="preprocessor"></span>
<a name="l00120"></a>00120 <span class="keywordflow">return</span> res;
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 };
<a name="l00123"></a>00123
<a name="l00124"></a>00124 } <span class="comment">// end namespace internal</span>
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="preprocessor">#endif // EIGEN_GEOMETRY_SSE_H</span>
</pre></div></div>
</div>
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