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add optimized cross3 function (code from Rohit Garg)

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This commit is contained in:
Gael Guennebaud
2009-03-11 14:20:36 +00:00
parent 3298320007
commit b8f46090ff
4 changed files with 70 additions and 0 deletions
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15
Eigen/src/Geometry/arch/Geometry_SSE.h
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@@ -45,4 +45,19 @@ ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quate
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
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
__m128 a = lhs.coeffs().packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 b = rhs.coeffs().packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 mul1=_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,3),ei_vec4f_swizzle1(b,2,0,1,3));
__m128 mul2=_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,3),ei_vec4f_swizzle1(b,1,2,0,3));
typename ei_plain_matrix_type<VectorLhs>::type res;
ei_pstore(&res.x(),_mm_sub_ps(mul1,mul2));
return res;
}
};
#endif // EIGEN_GEOMETRY_SSE_H