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-/*
-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.
-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 BT_SIMD_QUADWORD_H
-#define BT_SIMD_QUADWORD_H
-
-#include "btScalar.h"
-#include "btMinMax.h"
-
-
-
-
-
-#if defined (__CELLOS_LV2) && defined (__SPU__)
-#include <altivec.h>
-#endif
-
-/**@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.
- */
-#ifndef USE_LIBSPE2
-ATTRIBUTE_ALIGNED16(class) btQuadWord
-#else
-class btQuadWord
-#endif
-{
-protected:
-
-#if defined (__SPU__) && defined (__CELLOS_LV2__)
- union {
- vec_float4 mVec128;
- btScalar m_floats[4];
- };
-public:
- vec_float4 get128() const
- {
- return mVec128;
- }
-protected:
-#else //__CELLOS_LV2__ __SPU__
-
-#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
- union {
- btSimdFloat4 mVec128;
- btScalar m_floats[4];
- };
-public:
- SIMD_FORCE_INLINE btSimdFloat4 get128() const
- {
- return mVec128;
- }
- SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
- {
- mVec128 = v128;
- }
-#else
- btScalar m_floats[4];
-#endif // BT_USE_SSE
-
-#endif //__CELLOS_LV2__ __SPU__
-
- public:
-
-#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
-
- // Set Vector
- SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
- {
- mVec128 = vec;
- }
-
- // Copy constructor
- SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
- {
- mVec128 = rhs.mVec128;
- }
-
- // Assignment Operator
- SIMD_FORCE_INLINE btQuadWord&
- operator=(const btQuadWord& v)
- {
- mVec128 = v.mVec128;
-
- return *this;
- }
-
-#endif
-
- /**@brief Return the x value */
- SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
- /**@brief Return the y value */
- SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
- /**@brief Return the z value */
- SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
- /**@brief Set the x value */
- SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;};
- /**@brief Set the y value */
- SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;};
- /**@brief Set the z value */
- SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;};
- /**@brief Set the w value */
- SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
- /**@brief Return the x value */
- SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
- /**@brief Return the y value */
- SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
- /**@brief Return the z value */
- SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
- /**@brief Return the w value */
- 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 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.
- SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; }
- SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; }
-
- SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
- {
-#ifdef BT_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
- }
-
- SIMD_FORCE_INLINE bool operator!=(const btQuadWord& 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
- */
- SIMD_FORCE_INLINE void setValue(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.f;
- }
-
-/* void getValue(btScalar *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
- */
- SIMD_FORCE_INLINE void setValue(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;
- }
- /**@brief No initialization constructor */
- SIMD_FORCE_INLINE btQuadWord()
- // :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)
- * @param x Value of x
- * @param y Value of y
- * @param z Value of 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;
- }
-
-/**@brief Initializing constructor
- * @param x Value of x
- * @param y Value of y
- * @param z Value of z
- * @param w Value of 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;
- }
-
- /**@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
- */
- SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
- {
- #ifdef BT_USE_SSE
- mVec128 = _mm_max_ps(mVec128, other.mVec128);
- #elif defined(BT_USE_NEON)
- mVec128 = vmaxq_f32(mVec128, other.mVec128);
- #else
- btSetMax(m_floats[0], other.m_floats[0]);
- btSetMax(m_floats[1], other.m_floats[1]);
- btSetMax(m_floats[2], other.m_floats[2]);
- btSetMax(m_floats[3], other.m_floats[3]);
- #endif
- }
- /**@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
- */
- SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
- {
- #ifdef BT_USE_SSE
- mVec128 = _mm_min_ps(mVec128, other.mVec128);
- #elif defined(BT_USE_NEON)
- mVec128 = vminq_f32(mVec128, other.mVec128);
- #else
- btSetMin(m_floats[0], other.m_floats[0]);
- btSetMin(m_floats[1], other.m_floats[1]);
- btSetMin(m_floats[2], other.m_floats[2]);
- btSetMin(m_floats[3], other.m_floats[3]);
- #endif
- }
-
-
-
-};
-
-#endif //BT_SIMD_QUADWORD_H
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