From 7a8d0d8bc2572707c9d35006f30ea835c86954b0 Mon Sep 17 00:00:00 2001
From: sotech117 <michael_foiani@brown.edu>
Date: Tue, 9 Apr 2024 03:14:17 -0400
Subject: first draft to generate waves

---
 Eigen/src/Geometry/arch/Geometry_SIMD.h | 168 ++++++++++++++++++++++++++++++++
 1 file changed, 168 insertions(+)
 create mode 100644 Eigen/src/Geometry/arch/Geometry_SIMD.h

(limited to 'Eigen/src/Geometry/arch/Geometry_SIMD.h')

diff --git a/Eigen/src/Geometry/arch/Geometry_SIMD.h b/Eigen/src/Geometry/arch/Geometry_SIMD.h
new file mode 100644
index 0000000..9af6a9a
--- /dev/null
+++ b/Eigen/src/Geometry/arch/Geometry_SIMD.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GEOMETRY_SIMD_H
+#define EIGEN_GEOMETRY_SIMD_H
+
+namespace Eigen { 
+
+namespace internal {
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, 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)
+  {
+    evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+    evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    Packet4f a = ae.template packet<AAlignment,Packet4f>(0);
+    Packet4f b = be.template packet<BAlignment,Packet4f>(0);
+    Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
+    Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
+    pstoret<float,Packet4f,ResAlignment>(
+              &res.x(),
+              padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
+                                    pmul(vec4f_swizzle1(a,2,0,1,0),
+                                               vec4f_swizzle1(b,1,2,0,0))),
+                         pxor(mask,padd(s1,s2))));
+    
+    return res;
+  }
+};
+
+template<class Derived>
+struct quat_conj<Architecture::Target, Derived, float>
+{
+  enum {
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
+  {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
+    return res;
+  }
+};
+
+
+template<typename VectorLhs,typename VectorRhs>
+struct cross3_impl<Architecture::Target,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)
+  {
+    evaluator<VectorLhs> lhs_eval(lhs);
+    evaluator<VectorRhs> rhs_eval(rhs);
+    Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0);
+    Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0);
+    Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
+    Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
+    typename plain_matrix_type<VectorLhs>::type res;
+    pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
+    return res;
+  }
+};
+
+
+
+#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, 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)
+  {
+  Quaternion<double> res;
+
+  evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+  evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+
+  const double* a = _a.coeffs().data();
+  Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0);
+  Packet2d b_zw = be.template packet<BAlignment,Packet2d>(2);
+  Packet2d a_xx = pset1<Packet2d>(a[0]);
+  Packet2d a_yy = pset1<Packet2d>(a[1]);
+  Packet2d a_zz = pset1<Packet2d>(a[2]);
+  Packet2d a_ww = pset1<Packet2d>(a[3]);
+
+  // two temporaries:
+  Packet2d t1, t2;
+
+  /*
+   * t1 = ww*xy + yy*zw
+   * t2 = zz*xy - xx*zw
+   * res.xy = t1 +/- swap(t2)
+   */
+  t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
+  t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
+  pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
+  
+  /*
+   * t1 = ww*zw - yy*xy
+   * t2 = zz*zw + xx*xy
+   * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
+   */
+  t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
+  t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
+  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
+
+  return res;
+}
+};
+
+template<class Derived>
+struct quat_conj<Architecture::Target, Derived, double>
+{
+  enum {
+    ResAlignment = traits<Quaternion<double> >::Alignment
+  };
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
+  {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<double> res;
+    const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
+    const double arr1[2] = {neg_zero, neg_zero};
+    const double arr2[2] = {neg_zero,  0.0};
+    const Packet2d mask0 = ploadu<Packet2d>(arr1);
+    const Packet2d mask2 = ploadu<Packet2d>(arr2);
+    pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0)));
+    pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2)));
+    return res;
+  }
+};
+
+#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GEOMETRY_SIMD_H
-- 
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