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Diffstat (limited to 'libs/ode-0.16.1/ode/src/fastdot_impl.h')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/fastdot_impl.h | 51 |
1 files changed, 51 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/fastdot_impl.h b/libs/ode-0.16.1/ode/src/fastdot_impl.h new file mode 100644 index 0000000..f32e717 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/fastdot_impl.h @@ -0,0 +1,51 @@ + + +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#ifndef _ODE_FASTDOT_IMPL_H_ +#define _ODE_FASTDOT_IMPL_H_ + + +template<unsigned b_stride> +dReal calculateLargeVectorDot (const dReal *a, const dReal *b, unsigned n) +{ + dReal sum = 0; + const dReal *a_end = a + (n & (int)(~3)); + for (; a != a_end; b += 4 * b_stride, a += 4) { + dReal p0 = a[0], p1 = a[1], p2 = a[2], p3 = a[3]; + dReal q0 = b[0 * b_stride], q1 = b[1 * b_stride], q2 = b[2 * b_stride], q3 = b[3 * b_stride]; + dReal m0 = p0 * q0; + dReal m1 = p1 * q1; + dReal m2 = p2 * q2; + dReal m3 = p3 * q3; + sum += m0 + m1 + m2 + m3; + } + a_end += (n & 3); + for (; a != a_end; b += b_stride, ++a) { + sum += (*a) * (*b); + } + return sum; +} + + +#endif |