Add preliminary PhysX 4.0 backend for PyBullet
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py) Fix related to TinyRenderer object transforms not updating when using collision filtering
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erwincoumans
161
examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SSE.h
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161
examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SSE.h
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
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// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_GEOMETRY_SSE_H
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#define EIGEN_GEOMETRY_SSE_H
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namespace Eigen {
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namespace internal {
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template<class Derived, class OtherDerived>
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struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
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{
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enum {
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AAlignment = traits<Derived>::Alignment,
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BAlignment = traits<OtherDerived>::Alignment,
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ResAlignment = traits<Quaternion<float> >::Alignment
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};
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static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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Quaternion<float> res;
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const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
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__m128 a = _a.coeffs().template packet<AAlignment>(0);
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__m128 b = _b.coeffs().template packet<BAlignment>(0);
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__m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
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__m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
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pstoret<float,Packet4f,ResAlignment>(
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&res.x(),
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_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
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_mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
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vec4f_swizzle1(b,1,2,0,0))),
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_mm_xor_ps(mask,_mm_add_ps(s1,s2))));
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return res;
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}
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};
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template<class Derived>
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struct quat_conj<Architecture::SSE, Derived, float>
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{
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enum {
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ResAlignment = traits<Quaternion<float> >::Alignment
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};
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static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
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{
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Quaternion<float> res;
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const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
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pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
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return res;
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}
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};
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template<typename VectorLhs,typename VectorRhs>
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struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
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{
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enum {
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ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
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};
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static inline typename plain_matrix_type<VectorLhs>::type
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run(const VectorLhs& lhs, const VectorRhs& rhs)
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{
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__m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
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__m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
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__m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
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__m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
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typename plain_matrix_type<VectorLhs>::type res;
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pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
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return res;
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}
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};
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template<class Derived, class OtherDerived>
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struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
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{
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enum {
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BAlignment = traits<OtherDerived>::Alignment,
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ResAlignment = traits<Quaternion<double> >::Alignment
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};
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static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
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{
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const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
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Quaternion<double> res;
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const double* a = _a.coeffs().data();
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Packet2d b_xy = _b.coeffs().template packet<BAlignment>(0);
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Packet2d b_zw = _b.coeffs().template packet<BAlignment>(2);
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Packet2d a_xx = pset1<Packet2d>(a[0]);
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Packet2d a_yy = pset1<Packet2d>(a[1]);
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Packet2d a_zz = pset1<Packet2d>(a[2]);
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Packet2d a_ww = pset1<Packet2d>(a[3]);
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// two temporaries:
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Packet2d t1, t2;
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/*
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* t1 = ww*xy + yy*zw
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* t2 = zz*xy - xx*zw
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* res.xy = t1 +/- swap(t2)
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*/
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t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
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t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
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#ifdef EIGEN_VECTORIZE_SSE3
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EIGEN_UNUSED_VARIABLE(mask)
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pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
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#else
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pstoret<double,Packet2d,ResAlignment>(&res.x(), padd(t1, pxor(mask,preverse(t2))));
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#endif
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/*
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* t1 = ww*zw - yy*xy
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* t2 = zz*zw + xx*xy
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* res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
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*/
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t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
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t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
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#ifdef EIGEN_VECTORIZE_SSE3
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EIGEN_UNUSED_VARIABLE(mask)
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pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
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#else
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pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
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#endif
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return res;
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}
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};
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template<class Derived>
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struct quat_conj<Architecture::SSE, Derived, double>
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{
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enum {
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ResAlignment = traits<Quaternion<double> >::Alignment
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};
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static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
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{
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Quaternion<double> res;
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const __m128d mask0 = _mm_setr_pd(-0.,-0.);
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const __m128d mask2 = _mm_setr_pd(-0.,0.);
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pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
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pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
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return res;
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}
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};
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} // end namespace internal
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} // end namespace Eigen
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#endif // EIGEN_GEOMETRY_SSE_H
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