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Add accelearated cross product

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This commit is contained in:
Erik Hofman
2016-12-22 13:43:04 +01:00
parent 2c2a57f368
commit 2e9efa98d7
2 changed files with 86 additions and 14 deletions
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8
simgear/math/SGVec3.hxx
View File

@@ -330,12 +330,8 @@ normI(SGVec3<T> v)
template<typename T>
inline
SGVec3<T>
cross(const SGVec3<T>& v1, const SGVec3<T>& v2)
{
return SGVec3<T>(v1(1)*v2(2) - v1(2)*v2(1),
v1(2)*v2(0) - v1(0)*v2(2),
v1(0)*v2(1) - v1(1)*v2(0));
}
cross(SGVec3<T> v1, const SGVec3<T>& v2)
{ v1.simd3() = simd4::cross(v1.simd3(), v2.simd3()); return v1; }
/// return any normalized vector perpendicular to v
template<typename T>

92
simgear/math/simd.hxx
View File

@@ -89,6 +89,16 @@ inline T dot(simd4_t<T,N> v1, const simd4_t<T,N>& v2) {
return dp;
}
template<typename T>
inline simd4_t<T,3> cross(const simd4_t<T,3>& v1, const simd4_t<T,3>& v2)
{
simd4_t<T,3> d;
d[0] = v1[1]*v2[2] - v1[2]*v2[1];
d[1] = v1[2]*v2[0] - v1[0]*v2[2];
d[2] = v1[0]*v2[1] - v1[1]*v2[0];
return d;
}
} /* namespace simd4 */
@@ -245,26 +255,26 @@ inline simd4_t<T,N> operator-(const simd4_t<T,N>& v) {
return r;
}
template<typename T, int N>
inline simd4_t<T,N> operator+(simd4_t<T,N> v1, const simd4_t<T,N>& v2) {
template<typename T, int N, int M>
inline simd4_t<T,N> operator+(simd4_t<T,N> v1, const simd4_t<T,M>& v2) {
v1 += v2;
return v1;
}
template<typename T, int N>
inline simd4_t<T,N> operator-(simd4_t<T,N> v1, const simd4_t<T,N>& v2) {
template<typename T, int N, int M>
inline simd4_t<T,N> operator-(simd4_t<T,N> v1, const simd4_t<T,M>& v2) {
v1 -= v2;
return v1;
}
template<typename T, int N>
inline simd4_t<T,N> operator*(simd4_t<T,N> v1, const simd4_t<T,N>& v2) {
template<typename T, int N, int M>
inline simd4_t<T,N> operator*(simd4_t<T,N> v1, const simd4_t<T,M>& v2) {
v1 *= v2;
return v1;
}
template<typename T, int N>
inline simd4_t<T,N> operator/(simd4_t<T,N> v1, const simd4_t<T,N>& v2) {
template<typename T, int N, int M>
inline simd4_t<T,N> operator/(simd4_t<T,N> v1, const simd4_t<T,M>& v2) {
v1 /= v2;
return v1;
}
@@ -441,6 +451,26 @@ inline float dot(simd4_t<float,4> v1, const simd4_t<float,4>& v2) {
return hsum_ps_sse(v1.v4()*v2.v4());
}
template<>
inline simd4_t<float,3> cross(const simd4_t<float,3>& v1, const simd4_t<float,3>& v2)
{
#if 1
// http://threadlocalmutex.com/?p=8
__m128 a = _mm_shuffle_ps(v1.v4(), v1.v4(), _MM_SHUFFLE(3, 0, 2, 1));
__m128 b = _mm_shuffle_ps(v2.v4(), v2.v4(), _MM_SHUFFLE(3, 0, 2, 1));
__m128 c = _mm_sub_ps(_mm_mul_ps(v1.v4(), b), _mm_mul_ps(a, v2.v4()));
return _mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 0, 2, 1));
#else
v1.v4() = _mm_sub_ps(
_mm_mul_ps(_mm_shuffle_ps(v1.v4(),v1.v4(),_MM_SHUFFLE(3, 0, 2, 1)),
_mm_shuffle_ps(v2.v4(),v2.v4(),_MM_SHUFFLE(3, 1, 0, 2))),
_mm_mul_ps(_mm_shuffle_ps(v1.v4(),v1.v4(),_MM_SHUFFLE(3, 1, 0, 2)),
_mm_shuffle_ps(v2.v4(),v2.v4(),_MM_SHUFFLE(3, 0, 2, 1)))
);
return v1;
#endif
}
template<int N>
inline simd4_t<float,N> min(simd4_t<float,N> v1, const simd4_t<float,N>& v2) {
v1.v4() = _mm_min_ps(v1.v4(), v2.v4());
@@ -604,6 +634,29 @@ inline double dot(simd4_t<double,4> v1, const simd4_t<double,4>& v2) {
return hsum_pd_avx(v1.v4());
}
template<>
inline simd4_t<double,3> cross(const simd4_t<double,3>& v1, const simd4_t<double,3>& v2)
{
#if 1
// http://threadlocalmutex.com/?p=8
__m256d a = _mm256_shuffle_pd(v1.v4(), v1.v4(), _MM_SHUFFLE(3, 0, 2, 1));
__m256d b = _mm256_shuffle_pd(v2.v4(), v2.v4(), _MM_SHUFFLE(3, 0, 2, 1));
__m256d c = _mm256_sub_pd(_mm256_mul_pd(v1.v4(), b),
_mm256_mul_pd(a, v2.v4()));
return _mm256_shuffle_pd(c, c, _MM_SHUFFLE(3, 0, 2, 1));
#else
v1.v4() = _mm256_sub_pd(
_mm256_mul_pd(
_mm256_shuffle_pd(v1.v4(),v1.v4(),_MM_SHUFFLE(3, 0, 2, 1)),
_mm256_shuffle_pd(v2.v4(),v2.v4(),_MM_SHUFFLE(3, 1, 0, 2))),
_mm256_mul_pd(
_mm256_shuffle_pd(v1.v4(),v1.v4(),_MM_SHUFFLE(3, 1, 0, 2)),
_mm256_shuffle_pd(v2.v4(),v2.v4(),_MM_SHUFFLE(3, 0, 2, 1)))
);
return v1;
#endif
}
template<int N>
inline simd4_t<double,N> min(simd4_t<double,N> v1, const simd4_t<double,N>& v2) {
v1.v4() = _mm256_min_pd(v1.v4(), v2.v4());
@@ -775,6 +828,29 @@ inline double dot(simd4_t<double,4> v1, const simd4_t<double,4>& v2) {
return hsum_pd_sse(v1.v4());
}
#if 1
template<>
inline simd4_t<double,3> cross(const simd4_t<double,3>& v1, const simd4_t<double,3>& v2)
{
__m128d a[2], b[2], c[2];
simd4_t<double,3> r;
a[0] = _mm_shuffle_pd(v1.v4()[0], v1.v4()[1], _MM_SHUFFLE2(0, 1));
a[1] = _mm_shuffle_pd(v1.v4()[0], v1.v4()[1], _MM_SHUFFLE2(1, 0));
b[0] = _mm_shuffle_pd(v2.v4()[0], v2.v4()[1], _MM_SHUFFLE2(0, 1));
b[1] = _mm_shuffle_pd(v2.v4()[0], v2.v4()[1], _MM_SHUFFLE2(1, 0));
c[0] = _mm_sub_pd(_mm_mul_pd(v1.v4()[0], b[0]), _mm_mul_pd(a[0], v2.v4()[0]));
c[1] = _mm_sub_pd(_mm_mul_pd(v1.v4()[1], b[1]), _mm_mul_pd(a[1], v2.v4()[1]));
r.v4()[0] = _mm_shuffle_pd(c[0], c[1], _MM_SHUFFLE2(0, 1));
r.v4()[1] = _mm_shuffle_pd(c[0], c[1], _MM_SHUFFLE2(1, 0));
return r;
}
#endif
template<int N>
inline simd4_t<double,N> min(simd4_t<double,N> v1, const simd4_t<double,N>& v2) {
v1.v4()[0] = _mm_min_pd(v1.v4()[0], v2.v4()[0]);