static unsafe int Main(string[] args)
{
int testResult = Pass;
if (Sse41.IsSupported)
{
using (TestTable <int, int, long> intTable = new TestTable <int, int, long>(new int[4] {
1, -5, 100, 0
}, new int[4] {
22, -1, -50, 0
}, new long[2]))
{
var vi1 = Unsafe.Read <Vector128 <int> >(intTable.inArray1Ptr);
var vi2 = Unsafe.Read <Vector128 <int> >(intTable.inArray2Ptr);
var vi3 = Sse41.Multiply(vi1, vi2);
Unsafe.Write(intTable.outArrayPtr, vi3);
for (int i = 0; i < intTable.outArray.Length; i++)
{
if (intTable.inArray1[i * 2] * intTable.inArray2[i * 2] != intTable.outArray[i])
{
Console.WriteLine("SSE4.1 Multiply failed on int:");
foreach (var item in intTable.outArray)
{
Console.Write(item + ", ");
}
Console.WriteLine();
return(Fail);
}
}
}
}
return(testResult);
}
/// <summary>
/// Calculate "distance" of cloud at determined pose
/// TODO - It's actually slower than SISD. Need more parallelism.
/// </summary>
/// <param name="cloud">Cloud of points</param>
/// <param name="pose">Pose of cloud</param>
/// <returns></returns>
private int CalculateDistanceSSE41(ScanCloud cloud, Vector3 pose)
{
int nb_points = 0;
long sum = 0;
float px = pose.X * HoleMap.Scale;
float py = pose.Y * HoleMap.Scale;
float c = MathF.Cos(pose.Z) * HoleMap.Scale;
float s = MathF.Sin(pose.Z) * HoleMap.Scale;
Vector128 <float> sincos = Vector128.Create(c, -s, s, c);
Vector128 <float> posxy = Vector128.Create(px, py, px, py);
// Translate and rotate scan to robot position and compute the "distance"
for (int i = 0; i < cloud.Points.Count; i++)
{
Vector128 <float> xy = Vector128.Create(cloud.Points[i].X, cloud.Points[i].Y, cloud.Points[i].X, cloud.Points[i].Y);
xy = Sse41.Multiply(sincos, xy);
xy = Sse41.HorizontalAdd(xy, xy);
xy = Sse41.Add(xy, posxy);
xy = Sse41.RoundToNearestInteger(xy);
int x = (int)xy.GetElement(0);
int y = (int)xy.GetElement(1);
// Check boundaries
if ((x >= 0) && (x < HoleMap.Size) && (y >= 0) && (y < HoleMap.Size))
{
sum += HoleMap.Pixels[y * HoleMap.Size + x];
nb_points++;
}
}
if (nb_points > 0)
{
return((int)((sum * 1024) / cloud.Points.Count));
}
else
{
return(int.MaxValue);
}
}
public static Vector128 <long> _mm_mul_epi32(Vector128 <int> left, Vector128 <int> right)
{
return(Sse41.Multiply(left, right));
}
