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#ifndef B3_FLOAT4_H
#define B3_FLOAT4_H
#include "Bullet3Common/shared/b3PlatformDefinitions.h"
#ifdef __cplusplus
#include "Bullet3Common/b3Vector3.h"
#define b3Float4 b3Vector3
#define b3Float4ConstArg const b3Vector3&
#define b3Dot3F4 b3Dot
#define b3Cross3 b3Cross
#define b3MakeFloat4 b3MakeVector3
inline b3Vector3 b3Normalized(const b3Vector3& vec)
{
return vec.normalized();
}
inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
{
return v.normalized();
}
inline b3Float4 b3MaxFloat4(const b3Float4& a, const b3Float4& b)
{
b3Float4 tmp = a;
tmp.setMax(b);
return tmp;
}
inline b3Float4 b3MinFloat4(const b3Float4& a, const b3Float4& b)
{
b3Float4 tmp = a;
tmp.setMin(b);
return tmp;
}
#else
typedef float4 b3Float4;
#define b3Float4ConstArg const b3Float4
#define b3MakeFloat4 (float4)
float b3Dot3F4(b3Float4ConstArg v0, b3Float4ConstArg v1)
{
float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
return dot(a1, b1);
}
b3Float4 b3Cross3(b3Float4ConstArg v0, b3Float4ConstArg v1)
{
float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
return cross(a1, b1);
}
#define b3MinFloat4 min
#define b3MaxFloat4 max
#define b3Normalized(a) normalize(a)
#endif
inline bool b3IsAlmostZero(b3Float4ConstArg v)
{
if (b3Fabs(v.x) > 1e-6 || b3Fabs(v.y) > 1e-6 || b3Fabs(v.z) > 1e-6)
return false;
return true;
}
inline int b3MaxDot(b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut)
{
float maxDot = -B3_INFINITY;
int i = 0;
int ptIndex = -1;
for (i = 0; i < vecLen; i++)
{
float dot = b3Dot3F4(vecArray[i], vec);
if (dot > maxDot)
{
maxDot = dot;
ptIndex = i;
}
}
b3Assert(ptIndex >= 0);
if (ptIndex < 0)
{
ptIndex = 0;
}
*dotOut = maxDot;
return ptIndex;
}
#endif //B3_FLOAT4_H
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