Bullet Collision Detection & Physics Library
btQuadWord.h
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1 /*
2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3 
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:
9 
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.
12 3. This notice may not be removed or altered from any source distribution.
13 */
14 
15 
16 #ifndef BT_SIMD_QUADWORD_H
17 #define BT_SIMD_QUADWORD_H
18 
19 #include "btScalar.h"
20 #include "btMinMax.h"
21 
22 
23 
24 
25 
26 #if defined (__CELLOS_LV2) && defined (__SPU__)
27 #include <altivec.h>
28 #endif
29 
33 #ifndef USE_LIBSPE2
35 #else
36 class btQuadWord
37 #endif
38 {
39 protected:
40 
41 #if defined (__SPU__) && defined (__CELLOS_LV2__)
42  union {
43  vec_float4 mVec128;
44  btScalar m_floats[4];
45  };
46 public:
47  vec_float4 get128() const
48  {
49  return mVec128;
50  }
51 protected:
52 #else //__CELLOS_LV2__ __SPU__
53 
54 #if defined(BT_USE_SSE) || defined(BT_USE_NEON)
55  union {
56  btSimdFloat4 mVec128;
57  btScalar m_floats[4];
58  };
59 public:
60  SIMD_FORCE_INLINE btSimdFloat4 get128() const
61  {
62  return mVec128;
63  }
64  SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
65  {
66  mVec128 = v128;
67  }
68 #else
70 #endif // BT_USE_SSE
71 
72 #endif //__CELLOS_LV2__ __SPU__
73 
74  public:
75 
76 #if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
77 
78  // Set Vector
79  SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
80  {
81  mVec128 = vec;
82  }
83 
84  // Copy constructor
86  {
87  mVec128 = rhs.mVec128;
88  }
89 
90  // Assignment Operator
92  operator=(const btQuadWord& v)
93  {
94  mVec128 = v.mVec128;
95 
96  return *this;
97  }
98 
99 #endif
100 
102  SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
104  SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
106  SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
108  SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;};
110  SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;};
112  SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;};
114  SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
116  SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
118  SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
120  SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
122  SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
123 
124  //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
125  //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
127  SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; }
128  SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; }
129 
130  SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
131  {
132 #ifdef BT_USE_SSE
133  return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
134 #else
135  return ((m_floats[3]==other.m_floats[3]) &&
136  (m_floats[2]==other.m_floats[2]) &&
137  (m_floats[1]==other.m_floats[1]) &&
138  (m_floats[0]==other.m_floats[0]));
139 #endif
140  }
141 
142  SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
143  {
144  return !(*this == other);
145  }
146 
152  SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
153  {
154  m_floats[0]=_x;
155  m_floats[1]=_y;
156  m_floats[2]=_z;
157  m_floats[3] = 0.f;
158  }
159 
160 /* void getValue(btScalar *m) const
161  {
162  m[0] = m_floats[0];
163  m[1] = m_floats[1];
164  m[2] = m_floats[2];
165  }
166 */
173  SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
174  {
175  m_floats[0]=_x;
176  m_floats[1]=_y;
177  m_floats[2]=_z;
178  m_floats[3]=_w;
179  }
182  // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
183  {
184  }
185 
191  SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
192  {
193  m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
194  }
195 
202  SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
203  {
204  m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
205  }
206 
211  {
212  #ifdef BT_USE_SSE
213  mVec128 = _mm_max_ps(mVec128, other.mVec128);
214  #elif defined(BT_USE_NEON)
215  mVec128 = vmaxq_f32(mVec128, other.mVec128);
216  #else
217  btSetMax(m_floats[0], other.m_floats[0]);
218  btSetMax(m_floats[1], other.m_floats[1]);
219  btSetMax(m_floats[2], other.m_floats[2]);
220  btSetMax(m_floats[3], other.m_floats[3]);
221  #endif
222  }
227  {
228  #ifdef BT_USE_SSE
229  mVec128 = _mm_min_ps(mVec128, other.mVec128);
230  #elif defined(BT_USE_NEON)
231  mVec128 = vminq_f32(mVec128, other.mVec128);
232  #else
233  btSetMin(m_floats[0], other.m_floats[0]);
234  btSetMin(m_floats[1], other.m_floats[1]);
235  btSetMin(m_floats[2], other.m_floats[2]);
236  btSetMin(m_floats[3], other.m_floats[3]);
237  #endif
238  }
239 
240 
241 
242 };
243 
244 #endif //BT_SIMD_QUADWORD_H
void setMin(const btQuadWord &other)
Set each element to the min of the current values and the values of another btQuadWord.
Definition: btQuadWord.h:226
btQuadWord(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Initializing constructor.
Definition: btQuadWord.h:202
const btScalar & z() const
Return the z value.
Definition: btQuadWord.h:120
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
const btScalar & y() const
Return the y value.
Definition: btQuadWord.h:118
const btScalar & getY() const
Return the y value.
Definition: btQuadWord.h:104
const btScalar & getX() const
Return the x value.
Definition: btQuadWord.h:102
void setY(btScalar _y)
Set the y value.
Definition: btQuadWord.h:110
btQuadWord()
No initialization constructor.
Definition: btQuadWord.h:181
const btScalar & w() const
Return the w value.
Definition: btQuadWord.h:122
void btSetMin(T &a, const T &b)
Definition: btMinMax.h:41
void setX(btScalar _x)
Set the x value.
Definition: btQuadWord.h:108
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Set x,y,z and zero w.
Definition: btQuadWord.h:152
The btQuadWord class is base class for btVector3 and btQuaternion.
Definition: btQuadWord.h:34
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set the values.
Definition: btQuadWord.h:173
btScalar m_floats[4]
Definition: btQuadWord.h:69
void btSetMax(T &a, const T &b)
Definition: btMinMax.h:50
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
void setMax(const btQuadWord &other)
Set each element to the max of the current values and the values of another btQuadWord.
Definition: btQuadWord.h:210
btQuadWord(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Three argument constructor (zeros w)
Definition: btQuadWord.h:191
bool operator!=(const btQuadWord &other) const
Definition: btQuadWord.h:142
const btScalar & x() const
Return the x value.
Definition: btQuadWord.h:116
bool operator==(const btQuadWord &other) const
Definition: btQuadWord.h:130
void setZ(btScalar _z)
Set the z value.
Definition: btQuadWord.h:112
const btScalar & getZ() const
Return the z value.
Definition: btQuadWord.h:106
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
void setW(btScalar _w)
Set the w value.
Definition: btQuadWord.h:114