Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h
new file mode 100644
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+++ b/Eigen/src/Geometry/arch/Geometry_SSE.h
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+// 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_SSE_H
+#define EIGEN_GEOMETRY_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
+{
+ static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+ {
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
+ Quaternion<float> res;
+ __m128 a = _a.coeffs().template packet<Aligned>(0);
+ __m128 b = _b.coeffs().template packet<Aligned>(0);
+ __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
+ vec4f_swizzle1(b,2,0,1,2)),mask);
+ __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
+ vec4f_swizzle1(b,0,1,2,1)),mask);
+ pstore(&res.x(),
+ _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
+ _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
+ vec4f_swizzle1(b,1,2,0,0))),
+ _mm_add_ps(flip1,flip2)));
+ return res;
+ }
+};
+
+template<typename VectorLhs,typename VectorRhs>
+struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
+{
+ static inline typename plain_matrix_type<VectorLhs>::type
+ run(const VectorLhs& lhs, const VectorRhs& rhs)
+ {
+ __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+ __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+ __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
+ __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
+ typename plain_matrix_type<VectorLhs>::type res;
+ pstore(&res.x(),_mm_sub_ps(mul1,mul2));
+ return res;
+ }
+};
+
+
+
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
+{
+ static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+ {
+ const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+
+ Quaternion<double> res;
+
+ const double* a = _a.coeffs().data();
+ Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
+ Packet2d b_zw = _b.coeffs().template packet<Aligned>(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));
+#ifdef EIGEN_VECTORIZE_SSE3
+ EIGEN_UNUSED_VARIABLE(mask)
+ pstore(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
+#else
+ pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
+#endif
+
+ /*
+ * 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));
+#ifdef EIGEN_VECTORIZE_SSE3
+ EIGEN_UNUSED_VARIABLE(mask)
+ pstore(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
+#else
+ pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
+#endif
+
+ return res;
+}
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GEOMETRY_SSE_H