2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
4 This software is provided 'as-is', without any express or implied warranty.
5 In no event will the authors be held liable for any damages arising from the use of this software.
6 Permission is granted to anyone to use this software for any purpose,
7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
10 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.
11 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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15 #ifndef BT_SIMD_QUADWORD_H
16 #define BT_SIMD_QUADWORD_H
21 #if defined(__CELLOS_LV2) && defined(__SPU__)
25 /**@brief The btQuadWord class is base class for btVector3 and btQuaternion.
26 * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
29 ATTRIBUTE_ALIGNED16(class)
36 #if defined(__SPU__) && defined(__CELLOS_LV2__)
43 vec_float4 get128() const
49 #else //__CELLOS_LV2__ __SPU__
51 #if defined(BT_USE_SSE) || defined(BT_USE_NEON)
58 SIMD_FORCE_INLINE btSimdFloat4 get128() const
62 SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
70 #endif //__CELLOS_LV2__ __SPU__
73 #if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
76 SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
82 SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
84 mVec128 = rhs.mVec128;
87 // Assignment Operator
88 SIMD_FORCE_INLINE btQuadWord&
89 operator=(const btQuadWord& v)
98 /**@brief Return the x value */
99 SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
100 /**@brief Return the y value */
101 SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
102 /**@brief Return the z value */
103 SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
104 /**@brief Set the x value */
105 SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
106 /**@brief Set the y value */
107 SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
108 /**@brief Set the z value */
109 SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
110 /**@brief Set the w value */
111 SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
112 /**@brief Return the x value */
113 SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
114 /**@brief Return the y value */
115 SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
116 /**@brief Return the z value */
117 SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
118 /**@brief Return the w value */
119 SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
121 //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
122 //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
123 ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
124 SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
125 SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
127 SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
130 return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
132 return ((m_floats[3] == other.m_floats[3]) &&
133 (m_floats[2] == other.m_floats[2]) &&
134 (m_floats[1] == other.m_floats[1]) &&
135 (m_floats[0] == other.m_floats[0]));
139 SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
141 return !(*this == other);
144 /**@brief Set x,y,z and zero w
145 * @param x Value of x
146 * @param y Value of y
147 * @param z Value of z
149 SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
157 /* void getValue(btScalar *m) const
164 /**@brief Set the values
165 * @param x Value of x
166 * @param y Value of y
167 * @param z Value of z
168 * @param w Value of w
170 SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
177 /**@brief No initialization constructor */
178 SIMD_FORCE_INLINE btQuadWord()
179 // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
183 /**@brief Three argument constructor (zeros w)
184 * @param x Value of x
185 * @param y Value of y
186 * @param z Value of z
188 SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
190 m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
193 /**@brief Initializing constructor
194 * @param x Value of x
195 * @param y Value of y
196 * @param z Value of z
197 * @param w Value of w
199 SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
201 m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
204 /**@brief Set each element to the max of the current values and the values of another btQuadWord
205 * @param other The other btQuadWord to compare with
207 SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
210 mVec128 = _mm_max_ps(mVec128, other.mVec128);
211 #elif defined(BT_USE_NEON)
212 mVec128 = vmaxq_f32(mVec128, other.mVec128);
214 btSetMax(m_floats[0], other.m_floats[0]);
215 btSetMax(m_floats[1], other.m_floats[1]);
216 btSetMax(m_floats[2], other.m_floats[2]);
217 btSetMax(m_floats[3], other.m_floats[3]);
220 /**@brief Set each element to the min of the current values and the values of another btQuadWord
221 * @param other The other btQuadWord to compare with
223 SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
226 mVec128 = _mm_min_ps(mVec128, other.mVec128);
227 #elif defined(BT_USE_NEON)
228 mVec128 = vminq_f32(mVec128, other.mVec128);
230 btSetMin(m_floats[0], other.m_floats[0]);
231 btSetMin(m_floats[1], other.m_floats[1]);
232 btSetMin(m_floats[2], other.m_floats[2]);
233 btSetMin(m_floats[3], other.m_floats[3]);
238 #endif //BT_SIMD_QUADWORD_H