btQuadWord.h

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/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
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
 
#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
 
        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 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);
        }
 
        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];
                }
*/
        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 btQuadWord()
        //      :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
        {
        }
 
        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;
        }
 
        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;
        }
 
        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
        }
        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