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++ // 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
++
++ // IWYU pragma: private
++ #include "../InternalHeaderCheck.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> {
++ using DstPlainType = typename plain_matrix_type<VectorLhs>::type;
++ static constexpr int DstAlignment = evaluator<DstPlainType>::Alignment;
++ static constexpr int LhsAlignment = evaluator<VectorLhs>::Alignment;
++ static constexpr int RhsAlignment = evaluator<VectorRhs>::Alignment;
++ static inline DstPlainType run(const VectorLhs& lhs, const VectorRhs& rhs) {
++ evaluator<VectorLhs> lhs_eval(lhs);
++ evaluator<VectorRhs> rhs_eval(rhs);
++ Packet4f a = lhs_eval.template packet<LhsAlignment, Packet4f>(0);
++ Packet4f b = rhs_eval.template packet<RhsAlignment, 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));
++ DstPlainType res;
++ pstoret<float, Packet4f, DstAlignment>(res.data(), psub(mul1, mul2));
++ // Ensure last component is 0 in case original a or b contain inf/nan.
++ res[3] = 0.0f;
++ 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