42 #ifndef EIGEN_INVERSE_SSE_H
43 #define EIGEN_INVERSE_SSE_H
49 template<
typename MatrixType,
typename ResultType>
50 struct compute_inverse_size4<Architecture::
SSE, float, MatrixType, ResultType>
58 static void run(
const MatrixType& matrix, ResultType& result)
60 EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
63 __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);
64 __m128 _L2 = matrix.template packet<MatrixAlignment>( 4);
65 __m128 _L3 = matrix.template packet<MatrixAlignment>( 8);
66 __m128 _L4 = matrix.template packet<MatrixAlignment>(12);
75 if(!StorageOrdersMatch)
77 A = _mm_unpacklo_ps(_L1, _L2);
78 B = _mm_unpacklo_ps(_L3, _L4);
79 C = _mm_unpackhi_ps(_L1, _L2);
80 D = _mm_unpackhi_ps(_L3, _L4);
84 A = _mm_movelh_ps(_L1, _L2);
85 B = _mm_movehl_ps(_L2, _L1);
86 C = _mm_movelh_ps(_L3, _L4);
87 D = _mm_movehl_ps(_L4, _L3);
90 __m128 iA, iB, iC, iD,
92 __m128 dA, dB, dC, dD;
93 __m128 det, d, d1, d2;
97 AB = _mm_mul_ps(_mm_shuffle_ps(A,A,0x0F), B);
98 AB = _mm_sub_ps(AB,_mm_mul_ps(_mm_shuffle_ps(A,A,0xA5), _mm_shuffle_ps(B,B,0x4E)));
100 DC = _mm_mul_ps(_mm_shuffle_ps(D,D,0x0F), C);
101 DC = _mm_sub_ps(DC,_mm_mul_ps(_mm_shuffle_ps(D,D,0xA5), _mm_shuffle_ps(C,C,0x4E)));
104 dA = _mm_mul_ps(_mm_shuffle_ps(A, A, 0x5F),A);
105 dA = _mm_sub_ss(dA, _mm_movehl_ps(dA,dA));
107 dB = _mm_mul_ps(_mm_shuffle_ps(B, B, 0x5F),B);
108 dB = _mm_sub_ss(dB, _mm_movehl_ps(dB,dB));
111 dC = _mm_mul_ps(_mm_shuffle_ps(C, C, 0x5F),C);
112 dC = _mm_sub_ss(dC, _mm_movehl_ps(dC,dC));
114 dD = _mm_mul_ps(_mm_shuffle_ps(D, D, 0x5F),D);
115 dD = _mm_sub_ss(dD, _mm_movehl_ps(dD,dD));
118 d = _mm_mul_ps(_mm_shuffle_ps(DC,DC,0xD8),AB);
121 iD = _mm_mul_ps(_mm_shuffle_ps(C,C,0xA0), _mm_movelh_ps(AB,AB));
122 iD = _mm_add_ps(iD,_mm_mul_ps(_mm_shuffle_ps(C,C,0xF5), _mm_movehl_ps(AB,AB)));
124 iA = _mm_mul_ps(_mm_shuffle_ps(B,B,0xA0), _mm_movelh_ps(DC,DC));
125 iA = _mm_add_ps(iA,_mm_mul_ps(_mm_shuffle_ps(B,B,0xF5), _mm_movehl_ps(DC,DC)));
128 d = _mm_add_ps(d, _mm_movehl_ps(d, d));
129 d = _mm_add_ss(d, _mm_shuffle_ps(d, d, 1));
130 d1 = _mm_mul_ss(dA,dD);
131 d2 = _mm_mul_ss(dB,dC);
134 iD = _mm_sub_ps(_mm_mul_ps(D,_mm_shuffle_ps(dA,dA,0)), iD);
137 iA = _mm_sub_ps(_mm_mul_ps(A,_mm_shuffle_ps(dD,dD,0)), iA);
140 det = _mm_sub_ss(_mm_add_ss(d1,d2),d);
141 rd = _mm_div_ss(_mm_set_ss(1.0f), det);
148 iB = _mm_mul_ps(D, _mm_shuffle_ps(AB,AB,0x33));
149 iB = _mm_sub_ps(iB, _mm_mul_ps(_mm_shuffle_ps(D,D,0xB1), _mm_shuffle_ps(AB,AB,0x66)));
151 iC = _mm_mul_ps(A, _mm_shuffle_ps(DC,DC,0x33));
152 iC = _mm_sub_ps(iC, _mm_mul_ps(_mm_shuffle_ps(A,A,0xB1), _mm_shuffle_ps(DC,DC,0x66)));
154 rd = _mm_shuffle_ps(rd,rd,0);
155 rd = _mm_xor_ps(rd, _mm_load_ps((
float*)_Sign_PNNP));
158 iB = _mm_sub_ps(_mm_mul_ps(C,_mm_shuffle_ps(dB,dB,0)), iB);
161 iC = _mm_sub_ps(_mm_mul_ps(B,_mm_shuffle_ps(dC,dC,0)), iC);
164 iA = _mm_mul_ps(rd,iA);
165 iB = _mm_mul_ps(rd,iB);
166 iC = _mm_mul_ps(rd,iC);
167 iD = _mm_mul_ps(rd,iD);
169 result.template writePacket<ResultAlignment>( 0, _mm_shuffle_ps(iA,iB,0x77));
170 result.template writePacket<ResultAlignment>( 4, _mm_shuffle_ps(iA,iB,0x22));
171 result.template writePacket<ResultAlignment>( 8, _mm_shuffle_ps(iC,iD,0x77));
172 result.template writePacket<ResultAlignment>(12, _mm_shuffle_ps(iC,iD,0x22));
177 template<
typename MatrixType,
typename ResultType>
178 struct compute_inverse_size4<Architecture::
SSE, double, MatrixType, ResultType>
185 static void run(
const MatrixType& matrix, ResultType& result)
187 const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
188 const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
197 __m128d A1, A2, B1, B2, C1, C2, D1, D2;
199 if(StorageOrdersMatch)
201 A1 = matrix.template packet<MatrixAlignment>( 0); B1 = matrix.template packet<MatrixAlignment>( 2);
202 A2 = matrix.template packet<MatrixAlignment>( 4); B2 = matrix.template packet<MatrixAlignment>( 6);
203 C1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
204 C2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
209 A1 = matrix.template packet<MatrixAlignment>( 0); C1 = matrix.template packet<MatrixAlignment>( 2);
210 A2 = matrix.template packet<MatrixAlignment>( 4); C2 = matrix.template packet<MatrixAlignment>( 6);
212 A1 = _mm_unpacklo_pd(A1,A2);
213 A2 = _mm_unpackhi_pd(tmp,A2);
215 C1 = _mm_unpacklo_pd(C1,C2);
216 C2 = _mm_unpackhi_pd(tmp,C2);
218 B1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
219 B2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
221 B1 = _mm_unpacklo_pd(B1,B2);
222 B2 = _mm_unpackhi_pd(tmp,B2);
224 D1 = _mm_unpacklo_pd(D1,D2);
225 D2 = _mm_unpackhi_pd(tmp,D2);
228 __m128d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2,
230 __m128d dA, dB, dC, dD;
231 __m128d det, d1, d2, rd;
234 dA = _mm_shuffle_pd(A2, A2, 1);
235 dA = _mm_mul_pd(A1, dA);
236 dA = _mm_sub_sd(dA, _mm_shuffle_pd(dA,dA,3));
238 dB = _mm_shuffle_pd(B2, B2, 1);
239 dB = _mm_mul_pd(B1, dB);
240 dB = _mm_sub_sd(dB, _mm_shuffle_pd(dB,dB,3));
243 AB1 = _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,3));
244 AB2 = _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,0));
245 AB1 = _mm_sub_pd(AB1, _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,3)));
246 AB2 = _mm_sub_pd(AB2, _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,0)));
249 dC = _mm_shuffle_pd(C2, C2, 1);
250 dC = _mm_mul_pd(C1, dC);
251 dC = _mm_sub_sd(dC, _mm_shuffle_pd(dC,dC,3));
253 dD = _mm_shuffle_pd(D2, D2, 1);
254 dD = _mm_mul_pd(D1, dD);
255 dD = _mm_sub_sd(dD, _mm_shuffle_pd(dD,dD,3));
258 DC1 = _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,3));
259 DC2 = _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,0));
260 DC1 = _mm_sub_pd(DC1, _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,3)));
261 DC2 = _mm_sub_pd(DC2, _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,0)));
264 d1 = _mm_mul_pd(AB1, _mm_shuffle_pd(DC1, DC2, 0));
265 d2 = _mm_mul_pd(AB2, _mm_shuffle_pd(DC1, DC2, 3));
266 rd = _mm_add_pd(d1, d2);
267 rd = _mm_add_sd(rd, _mm_shuffle_pd(rd, rd,3));
270 iD1 = _mm_mul_pd(AB1, _mm_shuffle_pd(C1,C1,0));
271 iD2 = _mm_mul_pd(AB1, _mm_shuffle_pd(C2,C2,0));
272 iD1 = _mm_add_pd(iD1, _mm_mul_pd(AB2, _mm_shuffle_pd(C1,C1,3)));
273 iD2 = _mm_add_pd(iD2, _mm_mul_pd(AB2, _mm_shuffle_pd(C2,C2,3)));
276 iA1 = _mm_mul_pd(DC1, _mm_shuffle_pd(B1,B1,0));
277 iA2 = _mm_mul_pd(DC1, _mm_shuffle_pd(B2,B2,0));
278 iA1 = _mm_add_pd(iA1, _mm_mul_pd(DC2, _mm_shuffle_pd(B1,B1,3)));
279 iA2 = _mm_add_pd(iA2, _mm_mul_pd(DC2, _mm_shuffle_pd(B2,B2,3)));
282 dA = _mm_shuffle_pd(dA,dA,0);
283 iD1 = _mm_sub_pd(_mm_mul_pd(D1, dA), iD1);
284 iD2 = _mm_sub_pd(_mm_mul_pd(D2, dA), iD2);
287 dD = _mm_shuffle_pd(dD,dD,0);
288 iA1 = _mm_sub_pd(_mm_mul_pd(A1, dD), iA1);
289 iA2 = _mm_sub_pd(_mm_mul_pd(A2, dD), iA2);
291 d1 = _mm_mul_sd(dA, dD);
292 d2 = _mm_mul_sd(dB, dC);
295 iB1 = _mm_mul_pd(D1, _mm_shuffle_pd(AB2,AB1,1));
296 iB2 = _mm_mul_pd(D2, _mm_shuffle_pd(AB2,AB1,1));
297 iB1 = _mm_sub_pd(iB1, _mm_mul_pd(_mm_shuffle_pd(D1,D1,1), _mm_shuffle_pd(AB2,AB1,2)));
298 iB2 = _mm_sub_pd(iB2, _mm_mul_pd(_mm_shuffle_pd(D2,D2,1), _mm_shuffle_pd(AB2,AB1,2)));
301 det = _mm_add_sd(d1, d2);
302 det = _mm_sub_sd(det, rd);
305 iC1 = _mm_mul_pd(A1, _mm_shuffle_pd(DC2,DC1,1));
306 iC2 = _mm_mul_pd(A2, _mm_shuffle_pd(DC2,DC1,1));
307 iC1 = _mm_sub_pd(iC1, _mm_mul_pd(_mm_shuffle_pd(A1,A1,1), _mm_shuffle_pd(DC2,DC1,2)));
308 iC2 = _mm_sub_pd(iC2, _mm_mul_pd(_mm_shuffle_pd(A2,A2,1), _mm_shuffle_pd(DC2,DC1,2)));
310 rd = _mm_div_sd(_mm_set_sd(1.0), det);
314 rd = _mm_shuffle_pd(rd,rd,0);
317 dB = _mm_shuffle_pd(dB,dB,0);
318 iB1 = _mm_sub_pd(_mm_mul_pd(C1, dB), iB1);
319 iB2 = _mm_sub_pd(_mm_mul_pd(C2, dB), iB2);
321 d1 = _mm_xor_pd(rd, _Sign_PN);
322 d2 = _mm_xor_pd(rd, _Sign_NP);
325 dC = _mm_shuffle_pd(dC,dC,0);
326 iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
327 iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
329 result.template writePacket<ResultAlignment>( 0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
330 result.template writePacket<ResultAlignment>( 4, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
331 result.template writePacket<ResultAlignment>( 2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
332 result.template writePacket<ResultAlignment>( 6, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
333 result.template writePacket<ResultAlignment>( 8, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
334 result.template writePacket<ResultAlignment>(12, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
335 result.template writePacket<ResultAlignment>(10, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
336 result.template writePacket<ResultAlignment>(14, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
344 #endif // EIGEN_INVERSE_SSE_H