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/*************************************************************************
* *
* 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
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