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extern/bullet2/src/LinearMath/btQuadWord.h

/* /*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef BT_SIMD_QUADWORD_H #ifndef BT_SIMD_QUADWORD_H
#define BT_SIMD_QUADWORD_H #define BT_SIMD_QUADWORD_H
#include "btScalar.h" #include "btScalar.h"
#include "btMinMax.h" #include "btMinMax.h"
#if defined (__CELLOS_LV2) && defined (__SPU__) #if defined(__CELLOS_LV2) && defined(__SPU__)
#include <altivec.h> #include <altivec.h>
#endif #endif
/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. /**@brief The btQuadWord class is base class for btVector3 and btQuaternion.
* Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
*/ */
#ifndef USE_LIBSPE2 #ifndef USE_LIBSPE2
ATTRIBUTE_ALIGNED16(class) btQuadWord ATTRIBUTE_ALIGNED16(class)
btQuadWord
#else #else
class btQuadWord class btQuadWord
#endif #endif
{ {
protected: protected:
#if defined (__SPU__) && defined (__CELLOS_LV2__) #if defined(__SPU__) && defined(__CELLOS_LV2__)
union { union {
vec_float4 mVec128; vec_float4 mVec128;
btScalar m_floats[4]; btScalar m_floats[4];
}; };
public: public:
vec_float4 get128() const vec_float4 get128() const
{ {
return mVec128; return mVec128;
} }
protected: protected:
#else //__CELLOS_LV2__ __SPU__ #else //__CELLOS_LV2__ __SPU__
#if defined(BT_USE_SSE) || defined(BT_USE_NEON) #if defined(BT_USE_SSE) || defined(BT_USE_NEON)
union { union {
btSimdFloat4 mVec128; btSimdFloat4 mVec128;
btScalar m_floats[4]; btScalar m_floats[4];
}; };
public: public:
SIMD_FORCE_INLINE btSimdFloat4 get128() const SIMD_FORCE_INLINE btSimdFloat4 get128() const
{ {
return mVec128; return mVec128;
} }
SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
{ {
mVec128 = v128; mVec128 = v128;
} }
#else #else
btScalar m_floats[4]; btScalar m_floats[4];
#endif // BT_USE_SSE #endif // BT_USE_SSE
#endif //__CELLOS_LV2__ __SPU__ #endif //__CELLOS_LV2__ __SPU__
public: public:
#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON) #if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
// Set Vector // Set Vector
SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec) SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
{ {
mVec128 = vec; mVec128 = vec;
} }
// Copy constructor // Copy constructor
SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs) SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
{ {
mVec128 = rhs.mVec128; mVec128 = rhs.mVec128;
} }
// Assignment Operator // Assignment Operator
SIMD_FORCE_INLINE btQuadWord& SIMD_FORCE_INLINE btQuadWord&
operator=(const btQuadWord& v) operator=(const btQuadWord& v)
{ {
mVec128 = v.mVec128; mVec128 = v.mVec128;
return *this; return *this;
} }
#endif #endif
/**@brief Return the x value */ /**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
/**@brief Return the y value */ /**@brief Return the y value */
SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
/**@brief Return the z value */ /**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
/**@brief Set the x value */ /**@brief Set the x value */
SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
/**@brief Set the y value */ /**@brief Set the y value */
SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
/**@brief Set the z value */ /**@brief Set the z value */
SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
/**@brief Set the w value */ /**@brief Set the w value */
SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
/**@brief Return the x value */ /**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
/**@brief Return the y value */ /**@brief Return the y value */
SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
/**@brief Return the z value */ /**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
/**@brief Return the w value */ /**@brief Return the w value */
SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
//SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
{ {
#ifdef BT_USE_SSE #ifdef BT_USE_SSE
return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
#else #else
return ((m_floats[3]==other.m_floats[3]) && return ((m_floats[3] == other.m_floats[3]) &&
(m_floats[2]==other.m_floats[2]) && (m_floats[2] == other.m_floats[2]) &&
(m_floats[1]==other.m_floats[1]) && (m_floats[1] == other.m_floats[1]) &&
(m_floats[0]==other.m_floats[0])); (m_floats[0] == other.m_floats[0]));
#endif #endif
} }
SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
{ {
return !(*this == other); return !(*this == other);
} }
/**@brief Set x,y,z and zero w /**@brief Set x,y,z and zero w
* @param x Value of x * @param x Value of x
* @param y Value of y * @param y Value of y
* @param z Value of z * @param z Value of z
*/ */
SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
{ {
m_floats[0]=_x; m_floats[0] = _x;
m_floats[1]=_y; m_floats[1] = _y;
m_floats[2]=_z; m_floats[2] = _z;
m_floats[3] = 0.f; m_floats[3] = 0.f;
} }
/* void getValue(btScalar *m) const /* void getValue(btScalar *m) const
{ {
m[0] = m_floats[0]; m[0] = m_floats[0];
m[1] = m_floats[1]; m[1] = m_floats[1];
m[2] = m_floats[2]; m[2] = m_floats[2];
} }
*/ */
/**@brief Set the values /**@brief Set the values
* @param x Value of x * @param x Value of x
* @param y Value of y * @param y Value of y
* @param z Value of z * @param z Value of z
* @param w Value of w * @param w Value of w
*/ */
SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
{ {
m_floats[0]=_x; m_floats[0] = _x;
m_floats[1]=_y; m_floats[1] = _y;
m_floats[2]=_z; m_floats[2] = _z;
m_floats[3]=_w; m_floats[3] = _w;
} }
/**@brief No initialization constructor */ /**@brief No initialization constructor */
SIMD_FORCE_INLINE btQuadWord() SIMD_FORCE_INLINE btQuadWord()
// :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.)) // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
{ {
} }
/**@brief Three argument constructor (zeros w) /**@brief Three argument constructor (zeros w)
* @param x Value of x * @param x Value of x
* @param y Value of y * @param y Value of y
* @param z Value of z * @param z Value of z
*/ */
SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z) SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
{ {
m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f; m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
} }
/**@brief Initializing constructor /**@brief Initializing constructor
* @param x Value of x * @param x Value of x
* @param y Value of y * @param y Value of y
* @param z Value of z * @param z Value of z
* @param w Value of w * @param w Value of w
*/ */
SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
{ {
m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w; m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
} }
/**@brief Set each element to the max of the current values and the values of another btQuadWord /**@brief Set each element to the max of the current values and the values of another btQuadWord
* @param other The other btQuadWord to compare with * @param other The other btQuadWord to compare with
*/ */
SIMD_FORCE_INLINE void setMax(const btQuadWord& other) SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
{ {
#ifdef BT_USE_SSE #ifdef BT_USE_SSE
mVec128 = _mm_max_ps(mVec128, other.mVec128); mVec128 = _mm_max_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vmaxq_f32(mVec128, other.mVec128); mVec128 = vmaxq_f32(mVec128, other.mVec128);
#else #else
btSetMax(m_floats[0], other.m_floats[0]); btSetMax(m_floats[0], other.m_floats[0]);
btSetMax(m_floats[1], other.m_floats[1]); btSetMax(m_floats[1], other.m_floats[1]);
btSetMax(m_floats[2], other.m_floats[2]); btSetMax(m_floats[2], other.m_floats[2]);
btSetMax(m_floats[3], other.m_floats[3]); btSetMax(m_floats[3], other.m_floats[3]);
#endif #endif
} }
/**@brief Set each element to the min of the current values and the values of another btQuadWord /**@brief Set each element to the min of the current values and the values of another btQuadWord
* @param other The other btQuadWord to compare with * @param other The other btQuadWord to compare with
*/ */
SIMD_FORCE_INLINE void setMin(const btQuadWord& other) SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
{ {
#ifdef BT_USE_SSE #ifdef BT_USE_SSE
mVec128 = _mm_min_ps(mVec128, other.mVec128); mVec128 = _mm_min_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vminq_f32(mVec128, other.mVec128); mVec128 = vminq_f32(mVec128, other.mVec128);
#else #else
btSetMin(m_floats[0], other.m_floats[0]); btSetMin(m_floats[0], other.m_floats[0]);
btSetMin(m_floats[1], other.m_floats[1]); btSetMin(m_floats[1], other.m_floats[1]);
btSetMin(m_floats[2], other.m_floats[2]); btSetMin(m_floats[2], other.m_floats[2]);
btSetMin(m_floats[3], other.m_floats[3]); btSetMin(m_floats[3], other.m_floats[3]);
#endif #endif
} }
}; };
#endif //BT_SIMD_QUADWORD_H #endif //BT_SIMD_QUADWORD_H