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Quaternion could now map an array of 4 scalars :

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new classes :
* QuaternionBase
* Map<Quaternion>
This commit is contained in:
Mathieu Gautier
2009-10-27 13:19:16 +00:00
parent 427f8a87d1
commit 611d2b0b1d
3 changed files with 567 additions and 0 deletions
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21
Eigen/src/Geometry/arch/Geometry_SSE.h
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@@ -45,6 +45,27 @@ ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quate
return res;
}
template<class Derived, class OtherDerived> struct ei_quat_product<EiArch_SSE, Derived, OtherDerived, float, Aligned>
{
inline static Quat<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{
const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
Quat<float> res;
__m128 a = _a.coeffs().packet<Aligned>(0);
__m128 b = _b.coeffs().packet<Aligned>(0);
__m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
ei_vec4f_swizzle1(b,2,0,1,2)),mask);
__m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
ei_vec4f_swizzle1(b,0,1,2,1)),mask);
ei_pstore(&res.x(),
_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
ei_vec4f_swizzle1(b,1,2,0,0))),
_mm_add_ps(flip1,flip2)));
return res;
}
};
template<typename VectorLhs,typename VectorRhs>
struct ei_cross3_impl<EiArch_SSE,VectorLhs,VectorRhs,float,true> {
inline static typename ei_plain_matrix_type<VectorLhs>::type