mirror of
https://gitlab.com/libeigen/eigen.git
synced 2026-04-10 11:34:33 +08:00
Apply clang-format
This commit is contained in:
Tobias Wood
@@ -14,158 +14,136 @@
|
||||
// IWYU pragma: private
|
||||
#include "../InternalHeaderCheck.h"
|
||||
|
||||
namespace Eigen {
|
||||
namespace Eigen {
|
||||
|
||||
namespace internal {
|
||||
|
||||
template<class Derived, class OtherDerived>
|
||||
struct quat_product<Architecture::Target, Derived, OtherDerived, float>
|
||||
{
|
||||
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)
|
||||
{
|
||||
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))));
|
||||
|
||||
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)
|
||||
{
|
||||
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 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)));
|
||||
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)
|
||||
{
|
||||
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));
|
||||
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));
|
||||
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
|
||||
};
|
||||
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;
|
||||
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());
|
||||
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]);
|
||||
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;
|
||||
// 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)));
|
||||
/*
|
||||
* 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)));
|
||||
|
||||
return res;
|
||||
}
|
||||
/*
|
||||
* 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)
|
||||
{
|
||||
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 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)));
|
||||
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
|
||||
#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
|
||||
|
||||
} // end namespace internal
|
||||
} // end namespace internal
|
||||
|
||||
} // end namespace Eigen
|
||||
} // end namespace Eigen
|
||||
|
||||
#endif // EIGEN_GEOMETRY_SIMD_H
|
||||
#endif // EIGEN_GEOMETRY_SIMD_H
|
||||
|
||||
Reference in New Issue
Block a user