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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Common/b3QuadWord.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Common/b3QuadWord.h | 245 |
1 files changed, 245 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3Common/b3QuadWord.h b/thirdparty/bullet/src/Bullet3Common/b3QuadWord.h new file mode 100644 index 0000000000..65c9581977 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Common/b3QuadWord.h @@ -0,0 +1,245 @@ +/* +Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +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. +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. +*/ + + +#ifndef B3_SIMD_QUADWORD_H +#define B3_SIMD_QUADWORD_H + +#include "b3Scalar.h" +#include "b3MinMax.h" + + + + + +#if defined (__CELLOS_LV2) && defined (__SPU__) +#include <altivec.h> +#endif + +/**@brief The b3QuadWord class is base class for b3Vector3 and b3Quaternion. + * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. + */ +#ifndef USE_LIBSPE2 +B3_ATTRIBUTE_ALIGNED16(class) b3QuadWord +#else +class b3QuadWord +#endif +{ +protected: + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + union { + vec_float4 mVec128; + b3Scalar m_floats[4]; + }; +public: + vec_float4 get128() const + { + return mVec128; + } + +#else //__CELLOS_LV2__ __SPU__ + +#if defined(B3_USE_SSE) || defined(B3_USE_NEON) +public: + union { + b3SimdFloat4 mVec128; + b3Scalar m_floats[4]; + struct {b3Scalar x,y,z,w;}; + }; +public: + B3_FORCE_INLINE b3SimdFloat4 get128() const + { + return mVec128; + } + B3_FORCE_INLINE void set128(b3SimdFloat4 v128) + { + mVec128 = v128; + } +#else +public: + union + { + b3Scalar m_floats[4]; + struct {b3Scalar x,y,z,w;}; + }; +#endif // B3_USE_SSE + +#endif //__CELLOS_LV2__ __SPU__ + + public: + +#if defined(B3_USE_SSE) || defined(B3_USE_NEON) + + // Set Vector + B3_FORCE_INLINE b3QuadWord(const b3SimdFloat4 vec) + { + mVec128 = vec; + } + + // Copy constructor + B3_FORCE_INLINE b3QuadWord(const b3QuadWord& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + B3_FORCE_INLINE b3QuadWord& + operator=(const b3QuadWord& v) + { + mVec128 = v.mVec128; + + return *this; + } + +#endif + + /**@brief Return the x value */ + B3_FORCE_INLINE const b3Scalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + B3_FORCE_INLINE const b3Scalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + B3_FORCE_INLINE const b3Scalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + B3_FORCE_INLINE void setX(b3Scalar _x) { m_floats[0] = _x;}; + /**@brief Set the y value */ + B3_FORCE_INLINE void setY(b3Scalar _y) { m_floats[1] = _y;}; + /**@brief Set the z value */ + B3_FORCE_INLINE void setZ(b3Scalar _z) { m_floats[2] = _z;}; + /**@brief Set the w value */ + B3_FORCE_INLINE void setW(b3Scalar _w) { m_floats[3] = _w;}; + /**@brief Return the x value */ + + + //B3_FORCE_INLINE b3Scalar& operator[](int i) { return (&m_floats[0])[i]; } + //B3_FORCE_INLINE const b3Scalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator b3Scalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + B3_FORCE_INLINE operator b3Scalar *() { return &m_floats[0]; } + B3_FORCE_INLINE operator const b3Scalar *() const { return &m_floats[0]; } + + B3_FORCE_INLINE bool operator==(const b3QuadWord& other) const + { +#ifdef B3_USE_SSE + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif + } + + B3_FORCE_INLINE bool operator!=(const b3QuadWord& other) const + { + return !(*this == other); + } + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = 0.f; + } + +/* void getValue(b3Scalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] = m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + B3_FORCE_INLINE void setValue(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _w) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; + } + /**@brief No initialization constructor */ + B3_FORCE_INLINE b3QuadWord() + // :m_floats[0](b3Scalar(0.)),m_floats[1](b3Scalar(0.)),m_floats[2](b3Scalar(0.)),m_floats[3](b3Scalar(0.)) + { + } + + /**@brief Three argument constructor (zeros w) + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z) + { + m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f; + } + +/**@brief Initializing constructor + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + B3_FORCE_INLINE b3QuadWord(const b3Scalar& _x, const b3Scalar& _y, const b3Scalar& _z,const b3Scalar& _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 b3QuadWord + * @param other The other b3QuadWord to compare with + */ + B3_FORCE_INLINE void setMax(const b3QuadWord& other) + { + #ifdef B3_USE_SSE + mVec128 = _mm_max_ps(mVec128, other.mVec128); + #elif defined(B3_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); + #else + b3SetMax(m_floats[0], other.m_floats[0]); + b3SetMax(m_floats[1], other.m_floats[1]); + b3SetMax(m_floats[2], other.m_floats[2]); + b3SetMax(m_floats[3], other.m_floats[3]); + #endif + } + /**@brief Set each element to the min of the current values and the values of another b3QuadWord + * @param other The other b3QuadWord to compare with + */ + B3_FORCE_INLINE void setMin(const b3QuadWord& other) + { + #ifdef B3_USE_SSE + mVec128 = _mm_min_ps(mVec128, other.mVec128); + #elif defined(B3_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); + #else + b3SetMin(m_floats[0], other.m_floats[0]); + b3SetMin(m_floats[1], other.m_floats[1]); + b3SetMin(m_floats[2], other.m_floats[2]); + b3SetMin(m_floats[3], other.m_floats[3]); + #endif + } + + + +}; + +#endif //B3_SIMD_QUADWORD_H |