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bug #1411: fix usage of alignment information in vectorization of quaternion product and conjugate.

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This commit is contained in:
Gael Guennebaud 2017-06-07 10:10:30 +02:00
parent e018142604
commit f2a553fb7b
2 changed files with 44 additions and 26 deletions
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10
Eigen/src/Geometry/Quaternion.h
View File

@ -423,7 +423,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
// Generic Quaternion * Quaternion product
// This product can be specialized for a given architecture via the Arch template argument.
namespace internal {
template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
return Quaternion<Scalar>
@ -446,8 +446,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
return internal::quat_product<Architecture::Target, Derived, OtherDerived,
typename internal::traits<Derived>::Scalar,
EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other);
typename internal::traits<Derived>::Scalar>::run(*this, other);
}
/** \sa operator*(Quaternion) */
@ -672,7 +671,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
// Generic conjugate of a Quaternion
namespace internal {
template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj
template<int Arch, class Derived, typename Scalar> struct quat_conj
{
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
@ -691,8 +690,7 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::conjugate() const
{
return internal::quat_conj<Architecture::Target, Derived,
typename internal::traits<Derived>::Scalar,
internal::traits<Derived>::Alignment>::run(*this);
typename internal::traits<Derived>::Scalar>::run(*this);
}

60
Eigen/src/Geometry/arch/Geometry_SSE.h
View File

@ -16,17 +16,23 @@ namespace Eigen {
namespace internal {
template<class Derived, class OtherDerived>
struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
{
enum {
AAlignment = traits<Derived>::Alignment,
BAlignment = traits<OtherDerived>::Alignment,
ResAlignment = traits<Quaternion<float> >::Alignment
};
static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{
Quaternion<float> res;
const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
__m128 a = _a.coeffs().template packet<Aligned16>(0);
__m128 b = _b.coeffs().template packet<Aligned16>(0);
__m128 a = _a.coeffs().template packet<AAlignment>(0);
__m128 b = _b.coeffs().template packet<BAlignment>(0);
__m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
__m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
pstore(&res.x(),
pstoret<float,Packet4f,ResAlignment>(
&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))),
@ -36,14 +42,17 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
}
};
template<class Derived, int Alignment>
struct quat_conj<Architecture::SSE, Derived, float, Alignment>
template<class Derived>
struct quat_conj<Architecture::SSE, Derived, float>
{
enum {
ResAlignment = traits<Quaternion<float> >::Alignment
};
static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
{
Quaternion<float> res;
const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0)));
pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
return res;
}
};
@ -52,6 +61,9 @@ struct quat_conj<Architecture::SSE, Derived, float, Alignment>
template<typename VectorLhs,typename VectorRhs>
struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
{
enum {
ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
};
static inline typename plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
@ -60,7 +72,7 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
__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));
pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
return res;
}
};
@ -68,9 +80,14 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
template<class Derived, class OtherDerived, int Alignment>
struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
template<class Derived, class OtherDerived>
struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
{
enum {
BAlignment = traits<OtherDerived>::Alignment,
ResAlignment = traits<Quaternion<double> >::Alignment
};
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));
@ -78,8 +95,8 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
Quaternion<double> res;
const double* a = _a.coeffs().data();
Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
Packet2d a_xx = pset1<Packet2d>(a[0]);
Packet2d a_yy = pset1<Packet2d>(a[1]);
Packet2d a_zz = pset1<Packet2d>(a[2]);
@ -97,9 +114,9 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
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)));
pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
#else
pstore(&res.x(), padd(t1, pxor(mask,preverse(t2))));
pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
#endif
/*
@ -111,25 +128,28 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
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)));
pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
#else
pstore(&res.z(), psub(t1, pxor(mask,preverse(t2))));
pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
#endif
return res;
}
};
template<class Derived, int Alignment>
struct quat_conj<Architecture::SSE, Derived, double, Alignment>
template<class Derived>
struct quat_conj<Architecture::SSE, Derived, double>
{
enum {
ResAlignment = traits<Quaternion<double> >::Alignment
};
static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
{
Quaternion<double> res;
const __m128d mask0 = _mm_setr_pd(-0.,-0.);
const __m128d mask2 = _mm_setr_pd(-0.,0.);
pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0)));
pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2)));
pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
return res;
}
};