btVector3.h

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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_VECTOR3_H
#define BT_VECTOR3_H

//#include <stdint.h>
#include "btScalar.h"
#include "btMinMax.h"
#include "btAlignedAllocator.h"

#ifdef BT_USE_DOUBLE_PRECISION
#define btVector3Data btVector3DoubleData
#define btVector3DataName "btVector3DoubleData"
#else
#define btVector3Data btVector3FloatData
#define btVector3DataName "btVector3FloatData"
#endif //BT_USE_DOUBLE_PRECISION

#if defined BT_USE_SSE

//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));

#ifdef _MSC_VER
#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
#endif


#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) )
#define bt_splat_ps( _a, _i )  bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) )

#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
#define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
#define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
#define btvxyzMaskf btvFFF0fMask
#define btvAbsfMask btCastiTo128f(btvAbsMask)

//there is an issue with XCode 3.2 (LCx errors)
#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
#define v1110            (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
#define vHalf            (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
#define v1_5             (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))

//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
//const __m128 ATTRIBUTE_ALIGNED16(v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};

#endif

#ifdef BT_USE_NEON

const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
        static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};

#endif

ATTRIBUTE_ALIGNED16(class) btVector3
{
public:

        BT_DECLARE_ALIGNED_ALLOCATOR();

#if defined (__SPU__) && defined (__CELLOS_LV2__)
                btScalar        m_floats[4];
public:
        SIMD_FORCE_INLINE const vec_float4&     get128() const
        {
                return *((const vec_float4*)&m_floats[0]);
        }
public:
#else //__CELLOS_LV2__ __SPU__
    #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM
        union {
            btSimdFloat4      mVec128;
            btScalar    m_floats[4];
        };
        SIMD_FORCE_INLINE       btSimdFloat4    get128() const
        {
            return mVec128;
        }
        SIMD_FORCE_INLINE       void    set128(btSimdFloat4 v128)
        {
            mVec128 = v128;
        }
    #else
        btScalar        m_floats[4];
    #endif
#endif //__CELLOS_LV2__ __SPU__

        public:

        SIMD_FORCE_INLINE btVector3() 
        {

        }

 
        
        SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z)
        {
                m_floats[0] = _x;
                m_floats[1] = _y;
                m_floats[2] = _z;
                m_floats[3] = btScalar(0.f);
        }

#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON)
        // Set Vector 
        SIMD_FORCE_INLINE btVector3( btSimdFloat4 v)
        {
                mVec128 = v;
        }

        // Copy constructor
        SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
        {
                mVec128 = rhs.mVec128;
        }

        // Assignment Operator
        SIMD_FORCE_INLINE btVector3& 
        operator=(const btVector3& v) 
        {
                mVec128 = v.mVec128;
                
                return *this;
        }
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
    
        SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                mVec128 = _mm_add_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
                mVec128 = vaddq_f32(mVec128, v.mVec128);
#else
                m_floats[0] += v.m_floats[0]; 
                m_floats[1] += v.m_floats[1];
                m_floats[2] += v.m_floats[2];
#endif
                return *this;
        }


        SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                mVec128 = _mm_sub_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
                mVec128 = vsubq_f32(mVec128, v.mVec128);
#else
                m_floats[0] -= v.m_floats[0]; 
                m_floats[1] -= v.m_floats[1];
                m_floats[2] -= v.m_floats[2];
#endif
                return *this;
        }
        
        SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                __m128  vs = _mm_load_ss(&s);   //      (S 0 0 0)
                vs = bt_pshufd_ps(vs, 0x80);    //      (S S S 0.0)
                mVec128 = _mm_mul_ps(mVec128, vs);
#elif defined(BT_USE_NEON)
                mVec128 = vmulq_n_f32(mVec128, s);
#else
                m_floats[0] *= s; 
                m_floats[1] *= s;
                m_floats[2] *= s;
#endif
                return *this;
        }

        SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
        {
                btFullAssert(s != btScalar(0.0));

#if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster !
                __m128 vs = _mm_load_ss(&s);
                vs = _mm_div_ss(v1110, vs);
                vs = bt_pshufd_ps(vs, 0x00);    //      (S S S S)

                mVec128 = _mm_mul_ps(mVec128, vs);
                
                return *this;
#else
                return *this *= btScalar(1.0) / s;
#endif
        }

        SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
        {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                __m128 vd = _mm_mul_ps(mVec128, v.mVec128);
                __m128 z = _mm_movehl_ps(vd, vd);
                __m128 y = _mm_shuffle_ps(vd, vd, 0x55);
                vd = _mm_add_ss(vd, y);
                vd = _mm_add_ss(vd, z);
                return _mm_cvtss_f32(vd);
#elif defined(BT_USE_NEON)
                float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
                float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));  
                x = vadd_f32(x, vget_high_f32(vd));
                return vget_lane_f32(x, 0);
#else   
                return  m_floats[0] * v.m_floats[0] + 
                                m_floats[1] * v.m_floats[1] + 
                                m_floats[2] * v.m_floats[2];
#endif
        }

        SIMD_FORCE_INLINE btScalar length2() const
        {
                return dot(*this);
        }

        SIMD_FORCE_INLINE btScalar length() const
        {
                return btSqrt(length2());
        }

        SIMD_FORCE_INLINE btScalar norm() const
        {               
                return length();
        }

        SIMD_FORCE_INLINE btScalar safeNorm() const
        {
                btScalar d = length2();
                //workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
                if (d>SIMD_EPSILON)
                        return btSqrt(d);
                return btScalar(0);
        }

        SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;

        SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;

        SIMD_FORCE_INLINE btVector3& safeNormalize() 
        {
                btScalar l2 = length2();
                //triNormal.normalize();
                if (l2 >= SIMD_EPSILON*SIMD_EPSILON)
                {
                        (*this) /= btSqrt(l2);
                }
                else
                {
                        setValue(1, 0, 0);
                }
                return *this;
        }

        SIMD_FORCE_INLINE btVector3& normalize() 
        {
                
                btAssert(!fuzzyZero());

#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)          
        // dot product first
                __m128 vd = _mm_mul_ps(mVec128, mVec128);
                __m128 z = _mm_movehl_ps(vd, vd);
                __m128 y = _mm_shuffle_ps(vd, vd, 0x55);
                vd = _mm_add_ss(vd, y);
                vd = _mm_add_ss(vd, z);
                
        #if 0
        vd = _mm_sqrt_ss(vd);
                vd = _mm_div_ss(v1110, vd);
                vd = bt_splat_ps(vd, 0x80);
                mVec128 = _mm_mul_ps(mVec128, vd);
        #else
        
        // NR step 1/sqrt(x) - vd is x, y is output 
        y = _mm_rsqrt_ss(vd); // estimate 
        
        //  one step NR 
        z = v1_5;
        vd = _mm_mul_ss(vd, vHalf); // vd * 0.5 
        //x2 = vd;
        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
        z = _mm_sub_ss(z, vd);  // 1.5 - vd * 0.5 * y0 * y0 

        y = _mm_mul_ss(y, z);   // y0 * (1.5 - vd * 0.5 * y0 * y0)

                y = bt_splat_ps(y, 0x80);
                mVec128 = _mm_mul_ps(mVec128, y);

        #endif

                
                return *this;
#else   
                return *this /= length();
#endif
        }

        SIMD_FORCE_INLINE btVector3 normalized() const;

        SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;

        SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const 
        {
                btScalar s = btSqrt(length2() * v.length2());
                btFullAssert(s != btScalar(0.0));
                return btAcos(dot(v) / s);
        }
        
        SIMD_FORCE_INLINE btVector3 absolute() const 
        {

#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
                return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
#elif defined(BT_USE_NEON)
                return btVector3(vabsq_f32(mVec128));
#else   
                return btVector3(
                        btFabs(m_floats[0]), 
                        btFabs(m_floats[1]), 
                        btFabs(m_floats[2]));
#endif
        }
        
        SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                __m128  T, V;
                
                T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));      //      (Y Z X 0)
                V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));    //      (Y Z X 0)
                
                V = _mm_mul_ps(V, mVec128);
                T = _mm_mul_ps(T, v.mVec128);
                V = _mm_sub_ps(V, T);
                
                V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
                return btVector3(V);
#elif defined(BT_USE_NEON)
                float32x4_t T, V;
                // form (Y, Z, X, _) of mVec128 and v.mVec128
                float32x2_t Tlow = vget_low_f32(mVec128);
                float32x2_t Vlow = vget_low_f32(v.mVec128);
                T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
                V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
                
                V = vmulq_f32(V, mVec128);
                T = vmulq_f32(T, v.mVec128);
                V = vsubq_f32(V, T);
                Vlow = vget_low_f32(V);
                // form (Y, Z, X, _);
                V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
                V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
                
                return btVector3(V);
#else
                return btVector3(
                        m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
                        m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
                        m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
#endif
        }

        SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
        {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                // cross:
                __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));      //      (Y Z X 0)
                __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));      //      (Y Z X 0)
                
                V = _mm_mul_ps(V, v1.mVec128);
                T = _mm_mul_ps(T, v2.mVec128);
                V = _mm_sub_ps(V, T);
                
                V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));

                // dot: 
                V = _mm_mul_ps(V, mVec128);
                __m128 z = _mm_movehl_ps(V, V);
                __m128 y = _mm_shuffle_ps(V, V, 0x55);
                V = _mm_add_ss(V, y);
                V = _mm_add_ss(V, z);
                return _mm_cvtss_f32(V);

#elif defined(BT_USE_NEON)
                // cross:
                float32x4_t T, V;
                // form (Y, Z, X, _) of mVec128 and v.mVec128
                float32x2_t Tlow = vget_low_f32(v1.mVec128);
                float32x2_t Vlow = vget_low_f32(v2.mVec128);
                T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
                V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
                
                V = vmulq_f32(V, v1.mVec128);
                T = vmulq_f32(T, v2.mVec128);
                V = vsubq_f32(V, T);
                Vlow = vget_low_f32(V);
                // form (Y, Z, X, _);
                V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);

                // dot: 
                V = vmulq_f32(mVec128, V);
                float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));  
                x = vadd_f32(x, vget_high_f32(V));
                return vget_lane_f32(x, 0);
#else
                return 
                        m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
                        m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 
                        m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
#endif
        }

        SIMD_FORCE_INLINE int minAxis() const
        {
                return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
        }

        SIMD_FORCE_INLINE int maxAxis() const 
        {
                return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
        }

        SIMD_FORCE_INLINE int furthestAxis() const
        {
                return absolute().minAxis();
        }

        SIMD_FORCE_INLINE int closestAxis() const 
        {
                return absolute().maxAxis();
        }

        
        SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                __m128  vrt = _mm_load_ss(&rt); //      (rt 0 0 0)
                btScalar s = btScalar(1.0) - rt;
                __m128  vs = _mm_load_ss(&s);   //      (S 0 0 0)
                vs = bt_pshufd_ps(vs, 0x80);    //      (S S S 0.0)
                __m128 r0 = _mm_mul_ps(v0.mVec128, vs);
                vrt = bt_pshufd_ps(vrt, 0x80);  //      (rt rt rt 0.0)
                __m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
                __m128 tmp3 = _mm_add_ps(r0,r1);
                mVec128 = tmp3;
#elif defined(BT_USE_NEON)
                float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
                vl = vmulq_n_f32(vl, rt);
                mVec128 = vaddq_f32(vl, v0.mVec128);
#else
                btScalar s = btScalar(1.0) - rt;
                m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
                m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
                m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
                //don't do the unused w component
                //              m_co[3] = s * v0[3] + rt * v1[3];
#endif
        }

        SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                __m128  vt = _mm_load_ss(&t);   //      (t 0 0 0)
                vt = bt_pshufd_ps(vt, 0x80);    //      (rt rt rt 0.0)
                __m128 vl = _mm_sub_ps(v.mVec128, mVec128);
                vl = _mm_mul_ps(vl, vt);
                vl = _mm_add_ps(vl, mVec128);
                
                return btVector3(vl);
#elif defined(BT_USE_NEON)
                float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
                vl = vmulq_n_f32(vl, t);
                vl = vaddq_f32(vl, mVec128);
                
                return btVector3(vl);
#else   
                return 
                        btVector3(      m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
                                                m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
                                                m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
#endif
        }

        SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                mVec128 = _mm_mul_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
                mVec128 = vmulq_f32(mVec128, v.mVec128);
#else   
                m_floats[0] *= v.m_floats[0]; 
                m_floats[1] *= v.m_floats[1];
                m_floats[2] *= v.m_floats[2];
#endif
                return *this;
        }

                SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
                SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
                SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
                SIMD_FORCE_INLINE void  setX(btScalar _x) { m_floats[0] = _x;};
                SIMD_FORCE_INLINE void  setY(btScalar _y) { m_floats[1] = _y;};
                SIMD_FORCE_INLINE void  setZ(btScalar _z) { m_floats[2] = _z;};
                SIMD_FORCE_INLINE void  setW(btScalar _w) { m_floats[3] = _w;};
                SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
                SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
                SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
                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]; }
        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 btVector3& other) const
        {
#if defined(BT_USE_SSE_IN_API) && defined (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 btVector3& other) const
        {
                return !(*this == other);
        }

        SIMD_FORCE_INLINE void  setMax(const btVector3& other)
        {
#if defined(BT_USE_SSE_IN_API) && defined (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.w());
#endif
        }

        SIMD_FORCE_INLINE void  setMin(const btVector3& other)
        {
#if defined(BT_USE_SSE_IN_API) && defined (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.w());
#endif
        }

        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] = btScalar(0.f);
        }

        void    getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
        {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
 
                __m128 V  = _mm_and_ps(mVec128, btvFFF0fMask);
                __m128 V0 = _mm_xor_ps(btvMzeroMask, V);
                __m128 V2 = _mm_movelh_ps(V0, V);
                
                __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
                
        V0 = _mm_shuffle_ps(V0, V, 0xDB);
                V2 = _mm_shuffle_ps(V2, V, 0xF9);
                
                v0->mVec128 = V0;
                v1->mVec128 = V1;
                v2->mVec128 = V2;
#else
                v0->setValue(0.         ,-z()           ,y());
                v1->setValue(z()        ,0.                     ,-x());
                v2->setValue(-y()       ,x()    ,0.);
#endif
        }

        void setZero()
        {
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
                mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
#elif defined(BT_USE_NEON)
                int32x4_t vi = vdupq_n_s32(0); 
                mVec128 = vreinterpretq_f32_s32(vi);
#else   
                setValue(btScalar(0.),btScalar(0.),btScalar(0.));
#endif
        }

        SIMD_FORCE_INLINE bool isZero() const 
        {
                return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
        }


        SIMD_FORCE_INLINE bool fuzzyZero() const 
        {
                return length2() < SIMD_EPSILON*SIMD_EPSILON;
        }

        SIMD_FORCE_INLINE       void    serialize(struct        btVector3Data& dataOut) const;

        SIMD_FORCE_INLINE       void    deSerialize(const struct        btVector3DoubleData& dataIn);

        SIMD_FORCE_INLINE       void    deSerialize(const struct        btVector3FloatData& dataIn);

        SIMD_FORCE_INLINE       void    serializeFloat(struct   btVector3FloatData& dataOut) const;

        SIMD_FORCE_INLINE       void    deSerializeFloat(const struct   btVector3FloatData& dataIn);

        SIMD_FORCE_INLINE       void    serializeDouble(struct  btVector3DoubleData& dataOut) const;

        SIMD_FORCE_INLINE       void    deSerializeDouble(const struct  btVector3DoubleData& dataIn);
    
        SIMD_FORCE_INLINE   long    maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 

        SIMD_FORCE_INLINE   long    minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 

    /* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
    SIMD_FORCE_INLINE btVector3  dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const
    {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)

        __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 );
        __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 );
        __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 );
        __m128 b0 = _mm_unpacklo_ps( a0, a1 );
        __m128 b1 = _mm_unpackhi_ps( a0, a1 );
        __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() );
        __m128 r = _mm_movelh_ps( b0, b2 );
        r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
        a2 = _mm_and_ps( a2, btvxyzMaskf);
        r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) )));
        return btVector3(r);
        
#elif defined(BT_USE_NEON)
        static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 };
        float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128);
        float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128);
        float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128);
        float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1));
        a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask );
        float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] );
        float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
        return btVector3( vcombine_f32(b0, b1) );
#else   
                return btVector3( dot(v0), dot(v1), dot(v2));
#endif
    }
};

SIMD_FORCE_INLINE btVector3 
operator+(const btVector3& v1, const btVector3& v2) 
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
        return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON)
        return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
#else
        return btVector3(
                        v1.m_floats[0] + v2.m_floats[0], 
                        v1.m_floats[1] + v2.m_floats[1], 
                        v1.m_floats[2] + v2.m_floats[2]);
#endif
}

SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v1, const btVector3& v2) 
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
        return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON)
        return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
#else
        return btVector3(
                        v1.m_floats[0] * v2.m_floats[0], 
                        v1.m_floats[1] * v2.m_floats[1], 
                        v1.m_floats[2] * v2.m_floats[2]);
#endif
}

SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v1, const btVector3& v2)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)  && defined(BT_USE_SSE))

        //      without _mm_and_ps this code causes slowdown in Concave moving
        __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
        return btVector3(_mm_and_ps(r, btvFFF0fMask));
#elif defined(BT_USE_NEON)
        float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
        return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else
        return btVector3(
                        v1.m_floats[0] - v2.m_floats[0], 
                        v1.m_floats[1] - v2.m_floats[1], 
                        v1.m_floats[2] - v2.m_floats[2]);
#endif
}

SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
        __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
        return btVector3(_mm_and_ps(r, btvFFF0fMask)); 
#elif defined(BT_USE_NEON)
        return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
#else   
        return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
#endif
}

SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v, const btScalar& s)
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
        __m128  vs = _mm_load_ss(&s);   //      (S 0 0 0)
        vs = bt_pshufd_ps(vs, 0x80);    //      (S S S 0.0)
        return btVector3(_mm_mul_ps(v.mVec128, vs));
#elif defined(BT_USE_NEON)
        float32x4_t r = vmulq_n_f32(v.mVec128, s);
        return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else
        return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
#endif
}

SIMD_FORCE_INLINE btVector3 
operator*(const btScalar& s, const btVector3& v)
{ 
        return v * s; 
}

SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v, const btScalar& s)
{
        btFullAssert(s != btScalar(0.0));
#if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster !
        __m128 vs = _mm_load_ss(&s);
    vs = _mm_div_ss(v1110, vs);
        vs = bt_pshufd_ps(vs, 0x00);    //      (S S S S)

        return btVector3(_mm_mul_ps(v.mVec128, vs));
#else
        return v * (btScalar(1.0) / s);
#endif
}

SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v1, const btVector3& v2)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE))
        __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
        vec = _mm_and_ps(vec, btvFFF0fMask);
        return btVector3(vec); 
#elif defined(BT_USE_NEON)
        float32x4_t x, y, v, m;

        x = v1.mVec128;
        y = v2.mVec128;
        
        v = vrecpeq_f32(y);                     // v ~ 1/y
        m = vrecpsq_f32(y, v);          // m = (2-v*y)
        v = vmulq_f32(v, m);            // vv = v*m ~~ 1/y
        m = vrecpsq_f32(y, v);          // mm = (2-vv*y)
        v = vmulq_f32(v, x);            // x*vv
        v = vmulq_f32(v, m);            // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y

        return btVector3(v);
#else
        return btVector3(
                        v1.m_floats[0] / v2.m_floats[0], 
                        v1.m_floats[1] / v2.m_floats[1],
                        v1.m_floats[2] / v2.m_floats[2]);
#endif
}

SIMD_FORCE_INLINE btScalar 
btDot(const btVector3& v1, const btVector3& v2) 
{ 
        return v1.dot(v2); 
}


SIMD_FORCE_INLINE btScalar
btDistance2(const btVector3& v1, const btVector3& v2) 
{ 
        return v1.distance2(v2); 
}


SIMD_FORCE_INLINE btScalar
btDistance(const btVector3& v1, const btVector3& v2) 
{ 
        return v1.distance(v2); 
}

SIMD_FORCE_INLINE btScalar
btAngle(const btVector3& v1, const btVector3& v2) 
{ 
        return v1.angle(v2); 
}

SIMD_FORCE_INLINE btVector3 
btCross(const btVector3& v1, const btVector3& v2) 
{ 
        return v1.cross(v2); 
}

SIMD_FORCE_INLINE btScalar
btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
        return v1.triple(v2, v3);
}

SIMD_FORCE_INLINE btVector3 
lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{
        return v1.lerp(v2, t);
}



SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
{
        return (v - *this).length2();
}

SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
{
        return (v - *this).length();
}

SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
{
        btVector3 nrm = *this;

        return nrm.normalize();
} 

SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const
{
        // wAxis must be a unit lenght vector

#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)

    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
        btScalar ssin = btSin( _angle );
    __m128 C = wAxis.cross( mVec128 ).mVec128;
        O = _mm_and_ps(O, btvFFF0fMask);
    btScalar scos = btCos( _angle );
        
        __m128 vsin = _mm_load_ss(&ssin);       //      (S 0 0 0)
    __m128 vcos = _mm_load_ss(&scos);   //      (S 0 0 0)
        
        __m128 Y = bt_pshufd_ps(O, 0xC9);       //      (Y Z X 0)
        __m128 Z = bt_pshufd_ps(O, 0xD2);       //      (Z X Y 0)
        O = _mm_add_ps(O, Y);
        vsin = bt_pshufd_ps(vsin, 0x80);        //      (S S S 0)
        O = _mm_add_ps(O, Z);
    vcos = bt_pshufd_ps(vcos, 0x80);    //      (S S S 0)
        
    vsin = vsin * C; 
        O = O * wAxis.mVec128; 
        __m128 X = mVec128 - O; 
        
    O = O + vsin;
        vcos = vcos * X;
        O = O + vcos;   
        
        return btVector3(O);
#else
        btVector3 o = wAxis * wAxis.dot( *this );
        btVector3 _x = *this - o;
        btVector3 _y;

        _y = wAxis.cross( *this );

        return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) );
#endif
}

SIMD_FORCE_INLINE   long    btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
{
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    #if defined _WIN32 || defined (BT_USE_SSE)
        const long scalar_cutoff = 10;
        long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #elif defined BT_USE_NEON
        const long scalar_cutoff = 4;
        extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #endif
    if( array_count < scalar_cutoff )   
#endif
    {
        btScalar maxDot1 = -SIMD_INFINITY;
        int i = 0;
        int ptIndex = -1;
        for( i = 0; i < array_count; i++ )
        {
            btScalar dot = array[i].dot(*this);
            
            if( dot > maxDot1 )
            {
                maxDot1 = dot;
                ptIndex = i;
            }
        }
        
        dotOut = maxDot1;
        return ptIndex;
    }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif
}

SIMD_FORCE_INLINE   long    btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
{
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    #if defined BT_USE_SSE
        const long scalar_cutoff = 10;
        long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #elif defined BT_USE_NEON
        const long scalar_cutoff = 4;
        extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #else
        #error unhandled arch!
    #endif
    
    if( array_count < scalar_cutoff )
#endif
    {
        btScalar  minDot = SIMD_INFINITY;
        int i = 0;
        int ptIndex = -1;
        
        for( i = 0; i < array_count; i++ )
        {
            btScalar dot = array[i].dot(*this);
            
            if( dot < minDot )
            {
                minDot = dot;
                ptIndex = i;
            }
        }
        
        dotOut = minDot;
        
        return ptIndex;
    }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif//BT_USE_SIMD_VECTOR3
}


class btVector4 : public btVector3
{
public:

        SIMD_FORCE_INLINE btVector4() {}


        SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
                : btVector3(_x,_y,_z)
        {
                m_floats[3] = _w;
        }

#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) 
        SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
        {
                mVec128 = vec;
        }

        SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
        {
                mVec128 = rhs.mVec128;
        }

        SIMD_FORCE_INLINE btVector4& 
        operator=(const btVector4& v) 
        {
                mVec128 = v.mVec128;
                return *this;
        }
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 

        SIMD_FORCE_INLINE btVector4 absolute4() const 
        {
#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
                return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
#elif defined(BT_USE_NEON)
                return btVector4(vabsq_f32(mVec128));
#else   
                return btVector4(
                        btFabs(m_floats[0]), 
                        btFabs(m_floats[1]), 
                        btFabs(m_floats[2]),
                        btFabs(m_floats[3]));
#endif
        }


        btScalar        getW() const { return m_floats[3];}


                SIMD_FORCE_INLINE int maxAxis4() const
        {
                int maxIndex = -1;
                btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
                if (m_floats[0] > maxVal)
                {
                        maxIndex = 0;
                        maxVal = m_floats[0];
                }
                if (m_floats[1] > maxVal)
                {
                        maxIndex = 1;
                        maxVal = m_floats[1];
                }
                if (m_floats[2] > maxVal)
                {
                        maxIndex = 2;
                        maxVal =m_floats[2];
                }
                if (m_floats[3] > maxVal)
                {
                        maxIndex = 3;
                }

                return maxIndex;
        }


        SIMD_FORCE_INLINE int minAxis4() const
        {
                int minIndex = -1;
                btScalar minVal = btScalar(BT_LARGE_FLOAT);
                if (m_floats[0] < minVal)
                {
                        minIndex = 0;
                        minVal = m_floats[0];
                }
                if (m_floats[1] < minVal)
                {
                        minIndex = 1;
                        minVal = m_floats[1];
                }
                if (m_floats[2] < minVal)
                {
                        minIndex = 2;
                        minVal =m_floats[2];
                }
                if (m_floats[3] < minVal)
                {
                        minIndex = 3;
                }
                
                return minIndex;
        }


        SIMD_FORCE_INLINE int closestAxis4() const 
        {
                return absolute4().maxAxis4();
        }

        
 

/*              void getValue(btScalar *m) const 
                {
                        m[0] = m_floats[0];
                        m[1] = m_floats[1];
                        m[2] =m_floats[2];
                }
*/
                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;
                }


};


SIMD_FORCE_INLINE void  btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{
#ifdef BT_USE_DOUBLE_PRECISION
        unsigned char* dest = (unsigned char*) &destVal;
        const unsigned char* src  = (const unsigned char*) &sourceVal;
        dest[0] = src[7];
    dest[1] = src[6];
    dest[2] = src[5];
    dest[3] = src[4];
    dest[4] = src[3];
    dest[5] = src[2];
    dest[6] = src[1];
    dest[7] = src[0];
#else
        unsigned char* dest = (unsigned char*) &destVal;
        const unsigned char* src  = (const unsigned char*) &sourceVal;
        dest[0] = src[3];
    dest[1] = src[2];
    dest[2] = src[1];
    dest[3] = src[0];
#endif //BT_USE_DOUBLE_PRECISION
}
SIMD_FORCE_INLINE void  btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{
        for (int i=0;i<4;i++)
        {
                btSwapScalarEndian(sourceVec[i],destVec[i]);
        }

}

SIMD_FORCE_INLINE void  btUnSwapVector3Endian(btVector3& vector)
{

        btVector3       swappedVec;
        for (int i=0;i<4;i++)
        {
                btSwapScalarEndian(vector[i],swappedVec[i]);
        }
        vector = swappedVec;
}

template <class T>
SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
{
  if (btFabs(n[2]) > SIMDSQRT12) {
    // choose p in y-z plane
    btScalar a = n[1]*n[1] + n[2]*n[2];
    btScalar k = btRecipSqrt (a);
    p[0] = 0;
        p[1] = -n[2]*k;
        p[2] = n[1]*k;
    // set q = n x p
    q[0] = a*k;
        q[1] = -n[0]*p[2];
        q[2] = n[0]*p[1];
  }
  else {
    // choose p in x-y plane
    btScalar a = n[0]*n[0] + n[1]*n[1];
    btScalar k = btRecipSqrt (a);
    p[0] = -n[1]*k;
        p[1] = n[0]*k;
        p[2] = 0;
    // set q = n x p
    q[0] = -n[2]*p[1];
        q[1] = n[2]*p[0];
        q[2] = a*k;
  }
}


struct  btVector3FloatData
{
        float   m_floats[4];
};

struct  btVector3DoubleData
{
        double  m_floats[4];

};

SIMD_FORCE_INLINE       void    btVector3::serializeFloat(struct        btVector3FloatData& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = float(m_floats[i]);
}

SIMD_FORCE_INLINE void  btVector3::deSerializeFloat(const struct        btVector3FloatData& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = btScalar(dataIn.m_floats[i]);
}


SIMD_FORCE_INLINE       void    btVector3::serializeDouble(struct       btVector3DoubleData& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = double(m_floats[i]);
}

SIMD_FORCE_INLINE void  btVector3::deSerializeDouble(const struct       btVector3DoubleData& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = btScalar(dataIn.m_floats[i]);
}


SIMD_FORCE_INLINE       void    btVector3::serialize(struct     btVector3Data& dataOut) const
{
        for (int i=0;i<4;i++)
                dataOut.m_floats[i] = m_floats[i];
}


SIMD_FORCE_INLINE void  btVector3::deSerialize(const struct     btVector3FloatData& dataIn)
{
        for (int i = 0; i<4; i++)
                m_floats[i] = (btScalar)dataIn.m_floats[i];
}


SIMD_FORCE_INLINE void  btVector3::deSerialize(const struct     btVector3DoubleData& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = (btScalar)dataIn.m_floats[i];
}

#endif //BT_VECTOR3_H