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extern/bullet2/src/LinearMath/btVector3.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_VECTOR3_H #ifndef BT_VECTOR3_H
#define BT_VECTOR3_H #define BT_VECTOR3_H
//#include <stdint.h> //#include <stdint.h>
#include "btScalar.h" #include "btScalar.h"
#include "btMinMax.h" #include "btMinMax.h"
#include "btAlignedAllocator.h" #include "btAlignedAllocator.h"
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
#define btVector3Data btVector3DoubleData #define btVector3Data btVector3DoubleData
#define btVector3DataName "btVector3DoubleData" #define btVector3DataName "btVector3DoubleData"
#else #else
#define btVector3Data btVector3FloatData #define btVector3Data btVector3FloatData
#define btVector3DataName "btVector3FloatData" #define btVector3DataName "btVector3FloatData"
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
#if defined BT_USE_SSE #if defined BT_USE_SSE
//typedef uint32_t __m128i __attribute__ ((vector_size(16))); //typedef uint32_t __m128i __attribute__ ((vector_size(16)));
#ifdef _MSC_VER #ifdef _MSC_VER
#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' #pragma warning(disable : 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
#endif #endif
#define BT_SHUFFLE(x,y,z,w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff) #define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) ) #define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) ) #define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))
#define bt_splat_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) ) #define bt_splat_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, _i))
#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) #define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) #define btvAbsMask (_mm_set_epi32(0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF)) #define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
#define btv3AbsfMask btCastiTo128f(btv3AbsiMask) #define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
#define btvFFF0fMask btCastiTo128f(btvFFF0Mask) #define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
#define btvxyzMaskf btvFFF0fMask #define btvxyzMaskf btvFFF0fMask
#define btvAbsfMask btCastiTo128f(btvAbsMask) #define btvAbsfMask btCastiTo128f(btvAbsMask)
//there is an issue with XCode 3.2 (LCx errors) //there is an issue with XCode 3.2 (LCx errors)
#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f)) #define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f)) #define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f)) #define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f)) #define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))
//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; //const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; //const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; //const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
//const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; //const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f};
#endif #endif
#ifdef BT_USE_NEON #ifdef BT_USE_NEON
const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF), const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0}; static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};
#endif #endif
/**@brief btVector3 can be used to represent 3D points and vectors. /**@brief btVector3 can be used to represent 3D points and vectors.
* It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/ */
ATTRIBUTE_ALIGNED16(class) btVector3 ATTRIBUTE_ALIGNED16(class)
btVector3
{ {
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
#if defined (__SPU__) && defined (__CELLOS_LV2__) #if defined(__SPU__) && defined(__CELLOS_LV2__)
btScalar m_floats[4]; btScalar m_floats[4];
public: public:
SIMD_FORCE_INLINE const vec_float4& get128() const SIMD_FORCE_INLINE const vec_float4& get128() const
{ {
return *((const vec_float4*)&m_floats[0]); return *((const vec_float4*)&m_floats[0]);
} }
public: public:
#else //__CELLOS_LV2__ __SPU__ #else //__CELLOS_LV2__ __SPU__
#if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM #if defined(BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM
union { union {
btSimdFloat4 mVec128; btSimdFloat4 mVec128;
btScalar m_floats[4]; btScalar m_floats[4];
}; };
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 #endif
#endif //__CELLOS_LV2__ __SPU__ #endif //__CELLOS_LV2__ __SPU__
public: public:
/**@brief No initialization constructor */ /**@brief No initialization constructor */
SIMD_FORCE_INLINE btVector3() SIMD_FORCE_INLINE btVector3()
{ {
} }
/**@brief Constructor from scalars /**@brief Constructor from scalars
* @param x X value * @param x X value
* @param y Y value * @param y Y value
* @param z Z value * @param z Z value
*/ */
SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z) SIMD_FORCE_INLINE btVector3(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] = btScalar(0.f); m_floats[3] = btScalar(0.f);
} }
#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 btVector3( btSimdFloat4 v) SIMD_FORCE_INLINE btVector3(btSimdFloat4 v)
{ {
mVec128 = v; mVec128 = v;
} }
// Copy constructor // Copy constructor
SIMD_FORCE_INLINE btVector3(const btVector3& rhs) SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
{ {
mVec128 = rhs.mVec128; mVec128 = rhs.mVec128;
} }
// Assignment Operator // Assignment Operator
SIMD_FORCE_INLINE btVector3& SIMD_FORCE_INLINE btVector3&
operator=(const btVector3& v) operator=(const btVector3& v)
{ {
mVec128 = v.mVec128; mVec128 = v.mVec128;
return *this; return *this;
} }
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
/**@brief Add a vector to this one /**@brief Add a vector to this one
* @param The vector to add to this one */ * @param The vector to add to this one */
SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
mVec128 = _mm_add_ps(mVec128, v.mVec128); mVec128 = _mm_add_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vaddq_f32(mVec128, v.mVec128); mVec128 = vaddq_f32(mVec128, v.mVec128);
#else #else
m_floats[0] += v.m_floats[0]; m_floats[0] += v.m_floats[0];
m_floats[1] += v.m_floats[1]; m_floats[1] += v.m_floats[1];
m_floats[2] += v.m_floats[2]; m_floats[2] += v.m_floats[2];
#endif #endif
return *this; return *this;
} }
/**@brief Subtract a vector from this one /**@brief Subtract a vector from this one
* @param The vector to subtract */ * @param The vector to subtract */
SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
mVec128 = _mm_sub_ps(mVec128, v.mVec128); mVec128 = _mm_sub_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vsubq_f32(mVec128, v.mVec128); mVec128 = vsubq_f32(mVec128, v.mVec128);
#else #else
m_floats[0] -= v.m_floats[0]; m_floats[0] -= v.m_floats[0];
m_floats[1] -= v.m_floats[1]; m_floats[1] -= v.m_floats[1];
m_floats[2] -= v.m_floats[2]; m_floats[2] -= v.m_floats[2];
#endif #endif
return *this; return *this;
} }
/**@brief Scale the vector /**@brief Scale the vector
* @param s Scale factor */ * @param s Scale factor */
SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 vs = _mm_load_ss(&s); // (S 0 0 0) __m128 vs = _mm_load_ss(&s); // (S 0 0 0)
vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0)
mVec128 = _mm_mul_ps(mVec128, vs); mVec128 = _mm_mul_ps(mVec128, vs);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vmulq_n_f32(mVec128, s); mVec128 = vmulq_n_f32(mVec128, s);
#else #else
m_floats[0] *= s; m_floats[0] *= s;
m_floats[1] *= s; m_floats[1] *= s;
m_floats[2] *= s; m_floats[2] *= s;
#endif #endif
return *this; return *this;
} }
/**@brief Inversely scale the vector /**@brief Inversely scale the vector
* @param s Scale factor to divide by */ * @param s Scale factor to divide by */
SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
{ {
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
#if 0 //defined(BT_USE_SSE_IN_API) #if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster ! // this code is not faster !
__m128 vs = _mm_load_ss(&s); __m128 vs = _mm_load_ss(&s);
vs = _mm_div_ss(v1110, vs); vs = _mm_div_ss(v1110, vs);
vs = bt_pshufd_ps(vs, 0x00); // (S S S S) vs = bt_pshufd_ps(vs, 0x00); // (S S S S)
mVec128 = _mm_mul_ps(mVec128, vs); mVec128 = _mm_mul_ps(mVec128, vs);
return *this; return *this;
#else #else
return *this *= btScalar(1.0) / s; return *this *= btScalar(1.0) / s;
#endif #endif
} }
/**@brief Return the dot product /**@brief Return the dot product
* @param v The other vector in the dot product */ * @param v The other vector in the dot product */
SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 vd = _mm_mul_ps(mVec128, v.mVec128); __m128 vd = _mm_mul_ps(mVec128, v.mVec128);
__m128 z = _mm_movehl_ps(vd, vd); __m128 z = _mm_movehl_ps(vd, vd);
__m128 y = _mm_shuffle_ps(vd, vd, 0x55); __m128 y = _mm_shuffle_ps(vd, vd, 0x55);
vd = _mm_add_ss(vd, y); vd = _mm_add_ss(vd, y);
vd = _mm_add_ss(vd, z); vd = _mm_add_ss(vd, z);
return _mm_cvtss_f32(vd); return _mm_cvtss_f32(vd);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t vd = vmulq_f32(mVec128, v.mVec128); float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd)); float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));
x = vadd_f32(x, vget_high_f32(vd)); x = vadd_f32(x, vget_high_f32(vd));
return vget_lane_f32(x, 0); return vget_lane_f32(x, 0);
#else #else
return m_floats[0] * v.m_floats[0] + return m_floats[0] * v.m_floats[0] +
m_floats[1] * v.m_floats[1] + m_floats[1] * v.m_floats[1] +
m_floats[2] * v.m_floats[2]; m_floats[2] * v.m_floats[2];
#endif #endif
} }
/**@brief Return the length of the vector squared */ /**@brief Return the length of the vector squared */
SIMD_FORCE_INLINE btScalar length2() const SIMD_FORCE_INLINE btScalar length2() const
{ {
return dot(*this); return dot(*this);
} }
/**@brief Return the length of the vector */ /**@brief Return the length of the vector */
SIMD_FORCE_INLINE btScalar length() const SIMD_FORCE_INLINE btScalar length() const
{ {
return btSqrt(length2()); return btSqrt(length2());
} }
/**@brief Return the norm (length) of the vector */ /**@brief Return the norm (length) of the vector */
SIMD_FORCE_INLINE btScalar norm() const SIMD_FORCE_INLINE btScalar norm() const
{ {
return length(); return length();
} }
/**@brief Return the norm (length) of the vector */
SIMD_FORCE_INLINE btScalar safeNorm() const
{
btScalar d = length2();
//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
if (d > SIMD_EPSILON)
return btSqrt(d);
return btScalar(0);
}
/**@brief Return the distance squared between the ends of this and another vector /**@brief Return the distance squared between the ends of this and another vector
* This is symantically treating the vector like a point */ * This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
/**@brief Return the distance between the ends of this and another vector /**@brief Return the distance between the ends of this and another vector
* This is symantically treating the vector like a point */ * This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const; SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
SIMD_FORCE_INLINE btVector3& safeNormalize() SIMD_FORCE_INLINE btVector3& safeNormalize()
{ {
btVector3 absVec = this->absolute(); btScalar l2 = length2();
int maxIndex = absVec.maxAxis(); //triNormal.normalize();
if (absVec[maxIndex]>0) if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
{ {
*this /= absVec[maxIndex]; (*this) /= btSqrt(l2);
return *this /= length();
} }
else
{
setValue(1,0,0); setValue(1, 0, 0);
}
return *this; return *this;
} }
/**@brief Normalize this vector /**@brief Normalize this vector
* x^2 + y^2 + z^2 = 1 */ * x^2 + y^2 + z^2 = 1 */
SIMD_FORCE_INLINE btVector3& normalize() SIMD_FORCE_INLINE btVector3& normalize()
{ {
btAssert(!fuzzyZero()); btAssert(!fuzzyZero());
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
// dot product first // dot product first
__m128 vd = _mm_mul_ps(mVec128, mVec128); __m128 vd = _mm_mul_ps(mVec128, mVec128);
__m128 z = _mm_movehl_ps(vd, vd); __m128 z = _mm_movehl_ps(vd, vd);
__m128 y = _mm_shuffle_ps(vd, vd, 0x55); __m128 y = _mm_shuffle_ps(vd, vd, 0x55);
vd = _mm_add_ss(vd, y); vd = _mm_add_ss(vd, y);
vd = _mm_add_ss(vd, z); vd = _mm_add_ss(vd, z);
#if 0 #if 0
vd = _mm_sqrt_ss(vd); vd = _mm_sqrt_ss(vd);
vd = _mm_div_ss(v1110, vd); vd = _mm_div_ss(v1110, vd);
vd = bt_splat_ps(vd, 0x80); vd = bt_splat_ps(vd, 0x80);
mVec128 = _mm_mul_ps(mVec128, vd); mVec128 = _mm_mul_ps(mVec128, vd);
#else #else
// NR step 1/sqrt(x) - vd is x, y is output // NR step 1/sqrt(x) - vd is x, y is output
y = _mm_rsqrt_ss(vd); // estimate y = _mm_rsqrt_ss(vd); // estimate
// one step NR // one step NR
z = v1_5; z = v1_5;
vd = _mm_mul_ss(vd, vHalf); // vd * 0.5 vd = _mm_mul_ss(vd, vHalf); // vd * 0.5
//x2 = vd; //x2 = vd;
vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0 vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0 z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0
y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0) y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0)
y = bt_splat_ps(y, 0x80); y = bt_splat_ps(y, 0x80);
mVec128 = _mm_mul_ps(mVec128, y); mVec128 = _mm_mul_ps(mVec128, y);
#endif #endif
return *this; return *this;
#else #else
return *this /= length(); return *this /= length();
#endif #endif
} }
/**@brief Return a normalized version of this vector */ /**@brief Return a normalized version of this vector */
SIMD_FORCE_INLINE btVector3 normalized() const; SIMD_FORCE_INLINE btVector3 normalized() const;
/**@brief Return a rotated version of this vector /**@brief Return a rotated version of this vector
* @param wAxis The axis to rotate about * @param wAxis The axis to rotate about
* @param angle The angle to rotate by */ * @param angle The angle to rotate by */
SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const; SIMD_FORCE_INLINE btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;
/**@brief Return the angle between this and another vector /**@brief Return the angle between this and another vector
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
{ {
btScalar s = btSqrt(length2() * v.length2()); btScalar s = btSqrt(length2() * v.length2());
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
return btAcos(dot(v) / s); return btAcos(dot(v) / s);
} }
/**@brief Return a vector will the absolute values of each element */ /**@brief Return a vector with the absolute values of each element */
SIMD_FORCE_INLINE btVector3 absolute() const SIMD_FORCE_INLINE btVector3 absolute() const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
return btVector3(_mm_and_ps(mVec128, btv3AbsfMask)); return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
return btVector3(vabsq_f32(mVec128)); return btVector3(vabsq_f32(mVec128));
#else #else
return btVector3( return btVector3(
btFabs(m_floats[0]), btFabs(m_floats[0]),
btFabs(m_floats[1]), btFabs(m_floats[1]),
btFabs(m_floats[2])); btFabs(m_floats[2]));
#endif #endif
} }
/**@brief Return the cross product between this and another vector /**@brief Return the cross product between this and another vector
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 T, V; __m128 T, V;
T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0)
V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0)
V = _mm_mul_ps(V, mVec128); V = _mm_mul_ps(V, mVec128);
T = _mm_mul_ps(T, v.mVec128); T = _mm_mul_ps(T, v.mVec128);
V = _mm_sub_ps(V, T); V = _mm_sub_ps(V, T);
V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3)); V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
return btVector3(V); return btVector3(V);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t T, V; float32x4_t T, V;
// form (Y, Z, X, _) of mVec128 and v.mVec128 // form (Y, Z, X, _) of mVec128 and v.mVec128
float32x2_t Tlow = vget_low_f32(mVec128); float32x2_t Tlow = vget_low_f32(mVec128);
float32x2_t Vlow = vget_low_f32(v.mVec128); float32x2_t Vlow = vget_low_f32(v.mVec128);
T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow); T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow); V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
V = vmulq_f32(V, mVec128); V = vmulq_f32(V, mVec128);
T = vmulq_f32(T, v.mVec128); T = vmulq_f32(T, v.mVec128);
V = vsubq_f32(V, T); V = vsubq_f32(V, T);
Vlow = vget_low_f32(V); Vlow = vget_low_f32(V);
// form (Y, Z, X, _); // form (Y, Z, X, _);
V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask); V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
return btVector3(V); return btVector3(V);
#else #else
return btVector3( return btVector3(
m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
#endif #endif
} }
SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
// cross: // cross:
__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0)
__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0)
V = _mm_mul_ps(V, v1.mVec128); V = _mm_mul_ps(V, v1.mVec128);
T = _mm_mul_ps(T, v2.mVec128); T = _mm_mul_ps(T, v2.mVec128);
V = _mm_sub_ps(V, T); V = _mm_sub_ps(V, T);
V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3)); V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));
// dot: // dot:
V = _mm_mul_ps(V, mVec128); V = _mm_mul_ps(V, mVec128);
__m128 z = _mm_movehl_ps(V, V); __m128 z = _mm_movehl_ps(V, V);
__m128 y = _mm_shuffle_ps(V, V, 0x55); __m128 y = _mm_shuffle_ps(V, V, 0x55);
V = _mm_add_ss(V, y); V = _mm_add_ss(V, y);
V = _mm_add_ss(V, z); V = _mm_add_ss(V, z);
return _mm_cvtss_f32(V); return _mm_cvtss_f32(V);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
// cross: // cross:
float32x4_t T, V; float32x4_t T, V;
// form (Y, Z, X, _) of mVec128 and v.mVec128 // form (Y, Z, X, _) of mVec128 and v.mVec128
float32x2_t Tlow = vget_low_f32(v1.mVec128); float32x2_t Tlow = vget_low_f32(v1.mVec128);
float32x2_t Vlow = vget_low_f32(v2.mVec128); float32x2_t Vlow = vget_low_f32(v2.mVec128);
T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow); T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow); V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
V = vmulq_f32(V, v1.mVec128); V = vmulq_f32(V, v1.mVec128);
T = vmulq_f32(T, v2.mVec128); T = vmulq_f32(T, v2.mVec128);
V = vsubq_f32(V, T); V = vsubq_f32(V, T);
Vlow = vget_low_f32(V); Vlow = vget_low_f32(V);
// form (Y, Z, X, _); // form (Y, Z, X, _);
V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
// dot: // dot:
V = vmulq_f32(mVec128, V); V = vmulq_f32(mVec128, V);
float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V)); float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));
x = vadd_f32(x, vget_high_f32(V)); x = vadd_f32(x, vget_high_f32(V));
return vget_lane_f32(x, 0); return vget_lane_f32(x, 0);
#else #else
return return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) +
m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) +
m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
#endif #endif
} }
/**@brief Return the axis with the smallest value /**@brief Return the axis with the smallest value
* Note return values are 0,1,2 for x, y, or z */ * Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int minAxis() const SIMD_FORCE_INLINE int minAxis() const
{ {
return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2); return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] < m_floats[2] ? 1 : 2);
} }
/**@brief Return the axis with the largest value /**@brief Return the axis with the largest value
* Note return values are 0,1,2 for x, y, or z */ * Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int maxAxis() const SIMD_FORCE_INLINE int maxAxis() const
{ {
return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0); return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] < m_floats[2] ? 2 : 0);
} }
SIMD_FORCE_INLINE int furthestAxis() const SIMD_FORCE_INLINE int furthestAxis() const
{ {
return absolute().minAxis(); return absolute().minAxis();
} }
SIMD_FORCE_INLINE int closestAxis() const SIMD_FORCE_INLINE int closestAxis() const
{ {
return absolute().maxAxis(); return absolute().maxAxis();
} }
SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt) SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0) __m128 vrt = _mm_load_ss(&rt); // (rt 0 0 0)
btScalar s = btScalar(1.0) - rt; btScalar s = btScalar(1.0) - rt;
__m128 vs = _mm_load_ss(&s); // (S 0 0 0) __m128 vs = _mm_load_ss(&s); // (S 0 0 0)
vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0)
__m128 r0 = _mm_mul_ps(v0.mVec128, vs); __m128 r0 = _mm_mul_ps(v0.mVec128, vs);
vrt = bt_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0) vrt = bt_pshufd_ps(vrt, 0x80); // (rt rt rt 0.0)
__m128 r1 = _mm_mul_ps(v1.mVec128, vrt); __m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
__m128 tmp3 = _mm_add_ps(r0,r1); __m128 tmp3 = _mm_add_ps(r0, r1);
mVec128 = tmp3; mVec128 = tmp3;
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128); float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
vl = vmulq_n_f32(vl, rt); vl = vmulq_n_f32(vl, rt);
mVec128 = vaddq_f32(vl, v0.mVec128); mVec128 = vaddq_f32(vl, v0.mVec128);
#else #else
btScalar s = btScalar(1.0) - rt; btScalar s = btScalar(1.0) - rt;
m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2]; m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
//don't do the unused w component //don't do the unused w component
// m_co[3] = s * v0[3] + rt * v1[3]; // m_co[3] = s * v0[3] + rt * v1[3];
#endif #endif
} }
/**@brief Return the linear interpolation between this and another vector /**@brief Return the linear interpolation between this and another vector
* @param v The other vector * @param v The other vector
* @param t The ration of this to v (t = 0 => return this, t=1 => return other) */ * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 vt = _mm_load_ss(&t); // (t 0 0 0) __m128 vt = _mm_load_ss(&t); // (t 0 0 0)
vt = bt_pshufd_ps(vt, 0x80); // (rt rt rt 0.0) vt = bt_pshufd_ps(vt, 0x80); // (rt rt rt 0.0)
__m128 vl = _mm_sub_ps(v.mVec128, mVec128); __m128 vl = _mm_sub_ps(v.mVec128, mVec128);
vl = _mm_mul_ps(vl, vt); vl = _mm_mul_ps(vl, vt);
vl = _mm_add_ps(vl, mVec128); vl = _mm_add_ps(vl, mVec128);
return btVector3(vl); return btVector3(vl);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t vl = vsubq_f32(v.mVec128, mVec128); float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
vl = vmulq_n_f32(vl, t); vl = vmulq_n_f32(vl, t);
vl = vaddq_f32(vl, mVec128); vl = vaddq_f32(vl, mVec128);
return btVector3(vl); return btVector3(vl);
#else #else
return return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
btVector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
#endif #endif
} }
/**@brief Elementwise multiply this vector by the other /**@brief Elementwise multiply this vector by the other
* @param v The other vector */ * @param v The other vector */
SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
mVec128 = _mm_mul_ps(mVec128, v.mVec128); mVec128 = _mm_mul_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
mVec128 = vmulq_f32(mVec128, v.mVec128); mVec128 = vmulq_f32(mVec128, v.mVec128);
#else #else
m_floats[0] *= v.m_floats[0]; m_floats[0] *= v.m_floats[0];
m_floats[1] *= v.m_floats[1]; m_floats[1] *= v.m_floats[1];
m_floats[2] *= v.m_floats[2]; m_floats[2] *= v.m_floats[2];
#endif #endif
return *this; return *this;
} }
/**@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 btVector3& other) const SIMD_FORCE_INLINE bool operator==(const btVector3& other) const
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(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 btVector3& other) const SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const
{ {
return !(*this == other); return !(*this == other);
} }
/**@brief Set each element to the max of the current values and the values of another btVector3 /**@brief Set each element to the max of the current values and the values of another btVector3
* @param other The other btVector3 to compare with * @param other The other btVector3 to compare with
*/ */
SIMD_FORCE_INLINE void setMax(const btVector3& other) SIMD_FORCE_INLINE void setMax(const btVector3& other)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(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.w()); btSetMax(m_floats[3], other.w());
#endif #endif
} }
/**@brief Set each element to the min of the current values and the values of another btVector3 /**@brief Set each element to the min of the current values and the values of another btVector3
* @param other The other btVector3 to compare with * @param other The other btVector3 to compare with
*/ */
SIMD_FORCE_INLINE void setMin(const btVector3& other) SIMD_FORCE_INLINE void setMin(const btVector3& other)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(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.w()); btSetMin(m_floats[3], other.w());
#endif #endif
} }
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] = btScalar(0.f); m_floats[3] = btScalar(0.f);
} }
void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const void getSkewSymmetricMatrix(btVector3 * v0, btVector3 * v1, btVector3 * v2) const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 V = _mm_and_ps(mVec128, btvFFF0fMask); __m128 V = _mm_and_ps(mVec128, btvFFF0fMask);
__m128 V0 = _mm_xor_ps(btvMzeroMask, V); __m128 V0 = _mm_xor_ps(btvMzeroMask, V);
__m128 V2 = _mm_movelh_ps(V0, V); __m128 V2 = _mm_movelh_ps(V0, V);
__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE); __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
V0 = _mm_shuffle_ps(V0, V, 0xDB); V0 = _mm_shuffle_ps(V0, V, 0xDB);
V2 = _mm_shuffle_ps(V2, V, 0xF9); V2 = _mm_shuffle_ps(V2, V, 0xF9);
v0->mVec128 = V0; v0->mVec128 = V0;
v1->mVec128 = V1; v1->mVec128 = V1;
v2->mVec128 = V2; v2->mVec128 = V2;
#else #else
v0->setValue(0. ,-z() ,y()); v0->setValue(0., -z(), y());
v1->setValue(z() ,0. ,-x()); v1->setValue(z(), 0., -x());
v2->setValue(-y() ,x() ,0.); v2->setValue(-y(), x(), 0.);
#endif #endif
} }
void setZero() void setZero()
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128); mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
int32x4_t vi = vdupq_n_s32(0); int32x4_t vi = vdupq_n_s32(0);
mVec128 = vreinterpretq_f32_s32(vi); mVec128 = vreinterpretq_f32_s32(vi);
#else #else
setValue(btScalar(0.),btScalar(0.),btScalar(0.)); setValue(btScalar(0.), btScalar(0.), btScalar(0.));
#endif #endif
} }
SIMD_FORCE_INLINE bool isZero() const SIMD_FORCE_INLINE bool isZero() const
{ {
return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
} }
SIMD_FORCE_INLINE bool fuzzyZero() const SIMD_FORCE_INLINE bool fuzzyZero() const
{ {
return length2() < SIMD_EPSILON*SIMD_EPSILON; return length2() < SIMD_EPSILON * SIMD_EPSILON;
} }
SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; SIMD_FORCE_INLINE void serialize(struct btVector3Data & dataOut) const;
SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData & dataOut) const;
SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData & dataOut) const;
SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
/**@brief returns index of maximum dot product between this and vectors in array[] /**@brief returns index of maximum dot product between this and vectors in array[]
* @param array The other vectors * @param array The other vectors
* @param array_count The number of other vectors * @param array_count The number of other vectors
* @param dotOut The maximum dot product */ * @param dotOut The maximum dot product */
SIMD_FORCE_INLINE long maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; SIMD_FORCE_INLINE long maxDot(const btVector3* array, long array_count, btScalar& dotOut) const;
/**@brief returns index of minimum dot product between this and vectors in array[] /**@brief returns index of minimum dot product between this and vectors in array[]
* @param array The other vectors * @param array The other vectors
* @param array_count The number of other vectors * @param array_count The number of other vectors
* @param dotOut The minimum dot product */ * @param dotOut The minimum dot product */
SIMD_FORCE_INLINE long minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; SIMD_FORCE_INLINE long minDot(const btVector3* array, long array_count, btScalar& dotOut) const;
/* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */ /* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */
SIMD_FORCE_INLINE btVector3 dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const SIMD_FORCE_INLINE btVector3 dot3(const btVector3& v0, const btVector3& v1, const btVector3& v2) const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 ); __m128 a0 = _mm_mul_ps(v0.mVec128, this->mVec128);
__m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 ); __m128 a1 = _mm_mul_ps(v1.mVec128, this->mVec128);
__m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 ); __m128 a2 = _mm_mul_ps(v2.mVec128, this->mVec128);
__m128 b0 = _mm_unpacklo_ps( a0, a1 ); __m128 b0 = _mm_unpacklo_ps(a0, a1);
__m128 b1 = _mm_unpackhi_ps( a0, a1 ); __m128 b1 = _mm_unpackhi_ps(a0, a1);
__m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() ); __m128 b2 = _mm_unpacklo_ps(a2, _mm_setzero_ps());
__m128 r = _mm_movelh_ps( b0, b2 ); __m128 r = _mm_movelh_ps(b0, b2);
r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 )); r = _mm_add_ps(r, _mm_movehl_ps(b2, b0));
a2 = _mm_and_ps( a2, btvxyzMaskf); a2 = _mm_and_ps(a2, btvxyzMaskf);
r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) ))); r = _mm_add_ps(r, btCastdTo128f(_mm_move_sd(btCastfTo128d(a2), btCastfTo128d(b1))));
return btVector3(r); return btVector3(r);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 }; static const uint32x4_t xyzMask = (const uint32x4_t){static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0};
float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128); float32x4_t a0 = vmulq_f32(v0.mVec128, this->mVec128);
float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128); float32x4_t a1 = vmulq_f32(v1.mVec128, this->mVec128);
float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128); float32x4_t a2 = vmulq_f32(v2.mVec128, this->mVec128);
float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1)); float32x2x2_t zLo = vtrn_f32(vget_high_f32(a0), vget_high_f32(a1));
a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask ); a2 = (float32x4_t)vandq_u32((uint32x4_t)a2, xyzMask);
float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] ); float32x2_t b0 = vadd_f32(vpadd_f32(vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0]);
float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f)); float32x2_t b1 = vpadd_f32(vpadd_f32(vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
return btVector3( vcombine_f32(b0, b1) ); return btVector3(vcombine_f32(b0, b1));
#else #else
return btVector3( dot(v0), dot(v1), dot(v2)); return btVector3(dot(v0), dot(v1), dot(v2));
#endif #endif
} }
}; };
/**@brief Return the sum of two vectors (Point symantics)*/ /**@brief Return the sum of two vectors (Point symantics)*/
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator+(const btVector3& v1, const btVector3& v2) operator+(const btVector3& v1, const btVector3& v2)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128)); return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
return btVector3(vaddq_f32(v1.mVec128, v2.mVec128)); return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
#else #else
return btVector3( return btVector3(
v1.m_floats[0] + v2.m_floats[0], v1.m_floats[0] + v2.m_floats[0],
v1.m_floats[1] + v2.m_floats[1], v1.m_floats[1] + v2.m_floats[1],
v1.m_floats[2] + v2.m_floats[2]); v1.m_floats[2] + v2.m_floats[2]);
#endif #endif
} }
/**@brief Return the elementwise product of two vectors */ /**@brief Return the elementwise product of two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btVector3& v1, const btVector3& v2) operator*(const btVector3& v1, const btVector3& v2)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128)); return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
return btVector3(vmulq_f32(v1.mVec128, v2.mVec128)); return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
#else #else
return btVector3( return btVector3(
v1.m_floats[0] * v2.m_floats[0], v1.m_floats[0] * v2.m_floats[0],
v1.m_floats[1] * v2.m_floats[1], v1.m_floats[1] * v2.m_floats[1],
v1.m_floats[2] * v2.m_floats[2]); v1.m_floats[2] * v2.m_floats[2]);
#endif #endif
} }
/**@brief Return the difference between two vectors */ /**@brief Return the difference between two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator-(const btVector3& v1, const btVector3& v2) operator-(const btVector3& v1, const btVector3& v2)
{ {
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) #if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
// without _mm_and_ps this code causes slowdown in Concave moving // without _mm_and_ps this code causes slowdown in Concave moving
__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
return btVector3(_mm_and_ps(r, btvFFF0fMask)); return btVector3(_mm_and_ps(r, btvFFF0fMask));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128); float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else #else
return btVector3( return btVector3(
v1.m_floats[0] - v2.m_floats[0], v1.m_floats[0] - v2.m_floats[0],
v1.m_floats[1] - v2.m_floats[1], v1.m_floats[1] - v2.m_floats[1],
v1.m_floats[2] - v2.m_floats[2]); v1.m_floats[2] - v2.m_floats[2]);
#endif #endif
} }
/**@brief Return the negative of the vector */ /**@brief Return the negative of the vector */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator-(const btVector3& v) operator-(const btVector3& v)
{ {
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) #if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask); __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
return btVector3(_mm_and_ps(r, btvFFF0fMask)); return btVector3(_mm_and_ps(r, btvFFF0fMask));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask)); return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
#else #else
return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
#endif #endif
} }
/**@brief Return the vector scaled by s */ /**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btVector3& v, const btScalar& s) operator*(const btVector3& v, const btScalar& s)
{ {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 vs = _mm_load_ss(&s); // (S 0 0 0) __m128 vs = _mm_load_ss(&s); // (S 0 0 0)
vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0)
return btVector3(_mm_mul_ps(v.mVec128, vs)); return btVector3(_mm_mul_ps(v.mVec128, vs));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t r = vmulq_n_f32(v.mVec128, s); float32x4_t r = vmulq_n_f32(v.mVec128, s);
return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else #else
return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
#endif #endif
} }
/**@brief Return the vector scaled by s */ /**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator*(const btScalar& s, const btVector3& v) operator*(const btScalar& s, const btVector3& v)
{ {
return v * s; return v * s;
} }
/**@brief Return the vector inversely scaled by s */ /**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v, const btScalar& s) operator/(const btVector3& v, const btScalar& s)
{ {
btFullAssert(s != btScalar(0.0)); btFullAssert(s != btScalar(0.0));
#if 0 //defined(BT_USE_SSE_IN_API) #if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster ! // this code is not faster !
__m128 vs = _mm_load_ss(&s); __m128 vs = _mm_load_ss(&s);
vs = _mm_div_ss(v1110, vs); vs = _mm_div_ss(v1110, vs);
vs = bt_pshufd_ps(vs, 0x00); // (S S S S) vs = bt_pshufd_ps(vs, 0x00); // (S S S S)
return btVector3(_mm_mul_ps(v.mVec128, vs)); return btVector3(_mm_mul_ps(v.mVec128, vs));
#else #else
return v * (btScalar(1.0) / s); return v * (btScalar(1.0) / s);
#endif #endif
} }
/**@brief Return the vector inversely scaled by s */ /**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v1, const btVector3& v2) operator/(const btVector3& v1, const btVector3& v2)
{ {
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) #if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))
__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
vec = _mm_and_ps(vec, btvFFF0fMask); vec = _mm_and_ps(vec, btvFFF0fMask);
return btVector3(vec); return btVector3(vec);
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
float32x4_t x, y, v, m; float32x4_t x, y, v, m;
x = v1.mVec128; x = v1.mVec128;
y = v2.mVec128; y = v2.mVec128;
v = vrecpeq_f32(y); // v ~ 1/y v = vrecpeq_f32(y); // v ~ 1/y
m = vrecpsq_f32(y, v); // m = (2-v*y) m = vrecpsq_f32(y, v); // m = (2-v*y)
v = vmulq_f32(v, m); // vv = v*m ~~ 1/y v = vmulq_f32(v, m); // vv = v*m ~~ 1/y
m = vrecpsq_f32(y, v); // mm = (2-vv*y) m = vrecpsq_f32(y, v); // mm = (2-vv*y)
v = vmulq_f32(v, x); // x*vv v = vmulq_f32(v, x); // x*vv
v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y
return btVector3(v); return btVector3(v);
#else #else
return btVector3( return btVector3(
v1.m_floats[0] / v2.m_floats[0], v1.m_floats[0] / v2.m_floats[0],
v1.m_floats[1] / v2.m_floats[1], v1.m_floats[1] / v2.m_floats[1],
v1.m_floats[2] / v2.m_floats[2]); v1.m_floats[2] / v2.m_floats[2]);
#endif #endif
} }
/**@brief Return the dot product between two vectors */ /**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDot(const btVector3& v1, const btVector3& v2) btDot(const btVector3& v1, const btVector3& v2)
{ {
return v1.dot(v2); return v1.dot(v2);
} }
/**@brief Return the distance squared between two vectors */ /**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDistance2(const btVector3& v1, const btVector3& v2) btDistance2(const btVector3& v1, const btVector3& v2)
{ {
return v1.distance2(v2); return v1.distance2(v2);
} }
/**@brief Return the distance between two vectors */ /**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btDistance(const btVector3& v1, const btVector3& v2) btDistance(const btVector3& v1, const btVector3& v2)
{ {
return v1.distance(v2); return v1.distance(v2);
} }
/**@brief Return the angle between two vectors */ /**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btAngle(const btVector3& v1, const btVector3& v2) btAngle(const btVector3& v1, const btVector3& v2)
{ {
return v1.angle(v2); return v1.angle(v2);
} }
/**@brief Return the cross product of two vectors */ /**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
btCross(const btVector3& v1, const btVector3& v2) btCross(const btVector3& v1, const btVector3& v2)
{ {
return v1.cross(v2); return v1.cross(v2);
} }
SIMD_FORCE_INLINE btScalar SIMD_FORCE_INLINE btScalar
btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3) btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{ {
return v1.triple(v2, v3); return v1.triple(v2, v3);
} }
/**@brief Return the linear interpolation between two vectors /**@brief Return the linear interpolation between two vectors
* @param v1 One vector * @param v1 One vector
* @param v2 The other vector * @param v2 The other vector
* @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
SIMD_FORCE_INLINE btVector3 SIMD_FORCE_INLINE btVector3
lerp(const btVector3& v1, const btVector3& v2, const btScalar& t) lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{ {
return v1.lerp(v2, t); return v1.lerp(v2, t);
} }
SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
{ {
return (v - *this).length2(); return (v - *this).length2();
} }
SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
{ {
return (v - *this).length(); return (v - *this).length();
} }
SIMD_FORCE_INLINE btVector3 btVector3::normalized() const SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
{ {
btVector3 nrm = *this; btVector3 nrm = *this;
return nrm.normalize(); return nrm.normalize();
} }
SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const SIMD_FORCE_INLINE btVector3 btVector3::rotate(const btVector3& wAxis, const btScalar _angle) const
{ {
// wAxis must be a unit lenght vector // wAxis must be a unit lenght vector
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
__m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
btScalar ssin = btSin( _angle ); btScalar ssin = btSin(_angle);
__m128 C = wAxis.cross( mVec128 ).mVec128; __m128 C = wAxis.cross(mVec128).mVec128;
O = _mm_and_ps(O, btvFFF0fMask); O = _mm_and_ps(O, btvFFF0fMask);
btScalar scos = btCos( _angle ); btScalar scos = btCos(_angle);
__m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0) __m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0)
__m128 vcos = _mm_load_ss(&scos); // (S 0 0 0) __m128 vcos = _mm_load_ss(&scos); // (S 0 0 0)
__m128 Y = bt_pshufd_ps(O, 0xC9); // (Y Z X 0) __m128 Y = bt_pshufd_ps(O, 0xC9); // (Y Z X 0)
__m128 Z = bt_pshufd_ps(O, 0xD2); // (Z X Y 0) __m128 Z = bt_pshufd_ps(O, 0xD2); // (Z X Y 0)
O = _mm_add_ps(O, Y); O = _mm_add_ps(O, Y);
vsin = bt_pshufd_ps(vsin, 0x80); // (S S S 0) vsin = bt_pshufd_ps(vsin, 0x80); // (S S S 0)
O = _mm_add_ps(O, Z); O = _mm_add_ps(O, Z);
vcos = bt_pshufd_ps(vcos, 0x80); // (S S S 0) vcos = bt_pshufd_ps(vcos, 0x80); // (S S S 0)
vsin = vsin * C; vsin = vsin * C;
O = O * wAxis.mVec128; O = O * wAxis.mVec128;
__m128 X = mVec128 - O; __m128 X = mVec128 - O;
O = O + vsin; O = O + vsin;
vcos = vcos * X; vcos = vcos * X;
O = O + vcos; O = O + vcos;
return btVector3(O); return btVector3(O);
#else #else
btVector3 o = wAxis * wAxis.dot( *this ); btVector3 o = wAxis * wAxis.dot(*this);
btVector3 _x = *this - o; btVector3 _x = *this - o;
btVector3 _y; btVector3 _y;
_y = wAxis.cross( *this ); _y = wAxis.cross(*this);
return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) ); return (o + _x * btCos(_angle) + _y * btSin(_angle));
#endif #endif
} }
SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const SIMD_FORCE_INLINE long btVector3::maxDot(const btVector3* array, long array_count, btScalar& dotOut) const
{ {
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#if defined _WIN32 || defined (BT_USE_SSE) #if defined _WIN32 || defined(BT_USE_SSE)
const long scalar_cutoff = 10; const long scalar_cutoff = 10;
long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); long _maxdot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
#elif defined BT_USE_NEON #elif defined BT_USE_NEON
const long scalar_cutoff = 4; const long scalar_cutoff = 4;
extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); extern long (*_maxdot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
#endif #endif
if( array_count < scalar_cutoff ) if (array_count < scalar_cutoff)
#endif #endif
{ {
btScalar maxDot1 = -SIMD_INFINITY; btScalar maxDot1 = -SIMD_INFINITY;
int i = 0; int i = 0;
int ptIndex = -1; int ptIndex = -1;
for( i = 0; i < array_count; i++ ) for (i = 0; i < array_count; i++)
{ {
btScalar dot = array[i].dot(*this); btScalar dot = array[i].dot(*this);
if( dot > maxDot1 ) if (dot > maxDot1)
{ {
maxDot1 = dot; maxDot1 = dot;
ptIndex = i; ptIndex = i;
} }
} }
dotOut = maxDot1; dotOut = maxDot1;
return ptIndex; return ptIndex;
} }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); return _maxdot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
#endif #endif
} }
SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const SIMD_FORCE_INLINE long btVector3::minDot(const btVector3* array, long array_count, btScalar& dotOut) const
{ {
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
#if defined BT_USE_SSE #if defined BT_USE_SSE
const long scalar_cutoff = 10; const long scalar_cutoff = 10;
long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); long _mindot_large(const float* array, const float* vec, unsigned long array_count, float* dotOut);
#elif defined BT_USE_NEON #elif defined BT_USE_NEON
const long scalar_cutoff = 4; const long scalar_cutoff = 4;
extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); extern long (*_mindot_large)(const float* array, const float* vec, unsigned long array_count, float* dotOut);
#else #else
#error unhandled arch! #error unhandled arch!
#endif #endif
if( array_count < scalar_cutoff ) if (array_count < scalar_cutoff)
#endif #endif
{ {
btScalar minDot = SIMD_INFINITY; btScalar minDot = SIMD_INFINITY;
int i = 0; int i = 0;
int ptIndex = -1; int ptIndex = -1;
for( i = 0; i < array_count; i++ ) for (i = 0; i < array_count; i++)
{ {
btScalar dot = array[i].dot(*this); btScalar dot = array[i].dot(*this);
if( dot < minDot ) if (dot < minDot)
{ {
minDot = dot; minDot = dot;
ptIndex = i; ptIndex = i;
} }
} }
dotOut = minDot; dotOut = minDot;
return ptIndex; return ptIndex;
} }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); return _mindot_large((float*)array, (float*)&m_floats[0], array_count, &dotOut);
#endif//BT_USE_SIMD_VECTOR3 #endif //BT_USE_SIMD_VECTOR3
} }
class btVector4 : public btVector3 class btVector4 : public btVector3
{ {
public: public:
SIMD_FORCE_INLINE btVector4() {} SIMD_FORCE_INLINE btVector4() {}
SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
: btVector3(_x,_y,_z) : btVector3(_x, _y, _z)
{ {
m_floats[3] = _w; m_floats[3] = _w;
} }
#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)
SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec) SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
{ {
mVec128 = vec; mVec128 = vec;
} }
SIMD_FORCE_INLINE btVector4(const btVector3& rhs) SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
{ {
mVec128 = rhs.mVec128; mVec128 = rhs.mVec128;
} }
SIMD_FORCE_INLINE btVector4& SIMD_FORCE_INLINE btVector4&
operator=(const btVector4& v) operator=(const btVector4& v)
{ {
mVec128 = v.mVec128; mVec128 = v.mVec128;
return *this; return *this;
} }
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
SIMD_FORCE_INLINE btVector4 absolute4() const SIMD_FORCE_INLINE btVector4 absolute4() const
{ {
#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) #if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)
return btVector4(_mm_and_ps(mVec128, btvAbsfMask)); return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
#elif defined(BT_USE_NEON) #elif defined(BT_USE_NEON)
return btVector4(vabsq_f32(mVec128)); return btVector4(vabsq_f32(mVec128));
#else #else
return btVector4( return btVector4(
btFabs(m_floats[0]), btFabs(m_floats[0]),
btFabs(m_floats[1]), btFabs(m_floats[1]),
btFabs(m_floats[2]), btFabs(m_floats[2]),
btFabs(m_floats[3])); btFabs(m_floats[3]));
#endif #endif
} }
btScalar getW() const { return m_floats[3];} btScalar getW() const { return m_floats[3]; }
SIMD_FORCE_INLINE int maxAxis4() const SIMD_FORCE_INLINE int maxAxis4() const
{ {
int maxIndex = -1; int maxIndex = -1;
btScalar maxVal = btScalar(-BT_LARGE_FLOAT); btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
if (m_floats[0] > maxVal) if (m_floats[0] > maxVal)
{ {
maxIndex = 0; maxIndex = 0;
maxVal = m_floats[0]; maxVal = m_floats[0];
} }
if (m_floats[1] > maxVal) if (m_floats[1] > maxVal)
{ {
maxIndex = 1; maxIndex = 1;
maxVal = m_floats[1]; maxVal = m_floats[1];
} }
if (m_floats[2] > maxVal) if (m_floats[2] > maxVal)
{ {
maxIndex = 2; maxIndex = 2;
maxVal =m_floats[2]; maxVal = m_floats[2];
} }
if (m_floats[3] > maxVal) if (m_floats[3] > maxVal)
{ {
maxIndex = 3; maxIndex = 3;
maxVal = m_floats[3];
} }
return maxIndex; return maxIndex;
} }
SIMD_FORCE_INLINE int minAxis4() const SIMD_FORCE_INLINE int minAxis4() const
{ {
int minIndex = -1; int minIndex = -1;
btScalar minVal = btScalar(BT_LARGE_FLOAT); btScalar minVal = btScalar(BT_LARGE_FLOAT);
if (m_floats[0] < minVal) if (m_floats[0] < minVal)
{ {
minIndex = 0; minIndex = 0;
minVal = m_floats[0]; minVal = m_floats[0];
} }
if (m_floats[1] < minVal) if (m_floats[1] < minVal)
{ {
minIndex = 1; minIndex = 1;
minVal = m_floats[1]; minVal = m_floats[1];
} }
if (m_floats[2] < minVal) if (m_floats[2] < minVal)
{ {
minIndex = 2; minIndex = 2;
minVal =m_floats[2]; minVal = m_floats[2];
} }
if (m_floats[3] < minVal) if (m_floats[3] < minVal)
{ {
minIndex = 3; minIndex = 3;
minVal = m_floats[3];
} }
return minIndex; return minIndex;
} }
SIMD_FORCE_INLINE int closestAxis4() const SIMD_FORCE_INLINE int closestAxis4() const
{ {
return absolute4().maxAxis4(); return absolute4().maxAxis4();
} }
/**@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
*/ */
/* 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;
} }
}; };
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{ {
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
unsigned char* dest = (unsigned char*) &destVal; unsigned char* dest = (unsigned char*)&destVal;
unsigned char* src = (unsigned char*) &sourceVal; const unsigned char* src = (const unsigned char*)&sourceVal;
dest[0] = src[7]; dest[0] = src[7];
dest[1] = src[6]; dest[1] = src[6];
dest[2] = src[5]; dest[2] = src[5];
dest[3] = src[4]; dest[3] = src[4];
dest[4] = src[3]; dest[4] = src[3];
dest[5] = src[2]; dest[5] = src[2];
dest[6] = src[1]; dest[6] = src[1];
dest[7] = src[0]; dest[7] = src[0];
#else #else
unsigned char* dest = (unsigned char*) &destVal; unsigned char* dest = (unsigned char*)&destVal;
unsigned char* src = (unsigned char*) &sourceVal; const unsigned char* src = (const unsigned char*)&sourceVal;
dest[0] = src[3]; dest[0] = src[3];
dest[1] = src[2]; dest[1] = src[2];
dest[2] = src[1]; dest[2] = src[1];
dest[3] = src[0]; dest[3] = src[0];
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
} }
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec) SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{ {
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
{ {
btSwapScalarEndian(sourceVec[i],destVec[i]); btSwapScalarEndian(sourceVec[i], destVec[i]);
} }
} }
///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization ///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector) SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
{ {
btVector3 swappedVec; btVector3 swappedVec;
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
{ {
btSwapScalarEndian(vector[i],swappedVec[i]); btSwapScalarEndian(vector[i], swappedVec[i]);
} }
vector = swappedVec; vector = swappedVec;
} }
template <class T> template <class T>
SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q) SIMD_FORCE_INLINE void btPlaneSpace1(const T& n, T& p, T& q)
{ {
if (btFabs(n[2]) > SIMDSQRT12) { if (btFabs(n[2]) > SIMDSQRT12)
{
// choose p in y-z plane // choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2]; btScalar a = n[1] * n[1] + n[2] * n[2];
btScalar k = btRecipSqrt (a); btScalar k = btRecipSqrt(a);
p[0] = 0; p[0] = 0;
p[1] = -n[2]*k; p[1] = -n[2] * k;
p[2] = n[1]*k; p[2] = n[1] * k;
// set q = n x p // set q = n x p
q[0] = a*k; q[0] = a * k;
q[1] = -n[0]*p[2]; q[1] = -n[0] * p[2];
q[2] = n[0]*p[1]; q[2] = n[0] * p[1];
} }
else { else
{
// choose p in x-y plane // choose p in x-y plane
btScalar a = n[0]*n[0] + n[1]*n[1]; btScalar a = n[0] * n[0] + n[1] * n[1];
btScalar k = btRecipSqrt (a); btScalar k = btRecipSqrt(a);
p[0] = -n[1]*k; p[0] = -n[1] * k;
p[1] = n[0]*k; p[1] = n[0] * k;
p[2] = 0; p[2] = 0;
// set q = n x p // set q = n x p
q[0] = -n[2]*p[1]; q[0] = -n[2] * p[1];
q[1] = n[2]*p[0]; q[1] = n[2] * p[0];
q[2] = a*k; q[2] = a * k;
} }
} }
struct btVector3FloatData struct btVector3FloatData
{ {
float m_floats[4]; float m_floats[4];
}; };
struct btVector3DoubleData struct btVector3DoubleData
{ {
double m_floats[4]; double m_floats[4];
}; };
SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
{ {
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
dataOut.m_floats[i] = float(m_floats[i]); dataOut.m_floats[i] = float(m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn) SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
{ {
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
m_floats[i] = btScalar(dataIn.m_floats[i]); m_floats[i] = btScalar(dataIn.m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
{ {
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
dataOut.m_floats[i] = double(m_floats[i]); dataOut.m_floats[i] = double(m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn) SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
{ {
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
m_floats[i] = btScalar(dataIn.m_floats[i]); m_floats[i] = btScalar(dataIn.m_floats[i]);
} }
SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
{ {
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
dataOut.m_floats[i] = m_floats[i]; dataOut.m_floats[i] = m_floats[i];
} }
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn) SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
{
for (int i = 0; i < 4; i++)
m_floats[i] = (btScalar)dataIn.m_floats[i];
}
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
{ {
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
m_floats[i] = dataIn.m_floats[i]; m_floats[i] = (btScalar)dataIn.m_floats[i];
} }
#endif //BT_VECTOR3_H #endif //BT_VECTOR3_H