Bullet Collision Detection & Physics Library: btQuadWord.h Source File

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btQuadWord.h
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1/*
2Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
3
4This software is provided 'as-is', without any express or implied warranty.
5In no event will the authors be held liable for any damages arising from the use of this software.
6Permission is granted to anyone to use this software for any purpose,
7including commercial applications, and to alter it and redistribute it freely,
8subject to the following restrictions:
9
101. 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.
112. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
123. This notice may not be removed or altered from any source distribution.
13*/
14
15#ifndef BT_SIMD_QUADWORD_H
16#define BT_SIMD_QUADWORD_H
17
18#include "btScalar.h"
19#include "btMinMax.h"
20
21#if defined(__CELLOS_LV2) && defined(__SPU__)
22#include <altivec.h>
23#endif
24
28#ifndef USE_LIBSPE2
29 ATTRIBUTE_ALIGNED16(class)
30 btQuadWord
31#else
32class btQuadWord
33#endif
34{
35protected:
36#if defined(__SPU__) && defined(__CELLOS_LV2__)
37 union {
38 vec_float4 mVec128;
39 btScalar m_floats[4];
40 };
41
42public:
43 vec_float4 get128() const
44 {
45 return mVec128;
46 }
47
48protected:
49#else //__CELLOS_LV2__ __SPU__
50
51#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
52 union {
53 btSimdFloat4 mVec128;
54 btScalar m_floats[4];
55 };
56
57public:
58 SIMD_FORCE_INLINE btSimdFloat4 get128() const
59 {
60 return mVec128;
61 }
62 SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
63 {
64 mVec128 = v128;
65 }
66#else
67 btScalar m_floats[4];
68#endif // BT_USE_SSE
69
70#endif //__CELLOS_LV2__ __SPU__
71
72public:
73#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
74
75 // Set Vector
76 SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
77 {
78 mVec128 = vec;
79 }
80
81 // Copy constructor
82 SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
83 {
84 mVec128 = rhs.mVec128;
85 }
86
87 // Assignment Operator
88 SIMD_FORCE_INLINE btQuadWord&
89 operator=(const btQuadWord& v)
90 {
91 mVec128 = v.mVec128;
92
93 return *this;
94 }
95
96#endif
97
99 SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
101 SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
103 SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
105 SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
107 SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
109 SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
111 SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
113 SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
115 SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
117 SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
119 SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
120
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]; }
124 SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
125 SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
126
127 SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
128 {
129#ifdef BT_USE_SSE
130 return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
131#else
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]));
136#endif
137 }
138
139 SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
140 {
141 return !(*this == other);
142 }
143
149 SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
150 {
151 m_floats[0] = _x;
152 m_floats[1] = _y;
153 m_floats[2] = _z;
154 m_floats[3] = 0.f;
155 }
156
157 /* void getValue(btScalar *m) const
158 {
159 m[0] = m_floats[0];
160 m[1] = m_floats[1];
161 m[2] = m_floats[2];
162 }
163*/
170 SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
171 {
172 m_floats[0] = _x;
173 m_floats[1] = _y;
174 m_floats[2] = _z;
175 m_floats[3] = _w;
176 }
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.))
180 {
181 }
182
188 SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
189 {
190 m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
191 }
192
199 SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
200 {
201 m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
202 }
203
207 SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
208 {
209#ifdef BT_USE_SSE
210 mVec128 = _mm_max_ps(mVec128, other.mVec128);
211#elif defined(BT_USE_NEON)
212 mVec128 = vmaxq_f32(mVec128, other.mVec128);
213#else
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]);
218#endif
219 }
223 SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
224 {
225#ifdef BT_USE_SSE
226 mVec128 = _mm_min_ps(mVec128, other.mVec128);
227#elif defined(BT_USE_NEON)
228 mVec128 = vminq_f32(mVec128, other.mVec128);
229#else
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]);
234#endif
235 }
236};
237
238#endif //BT_SIMD_QUADWORD_H
btMinMax.h
btSetMin
void btSetMin(T &a, const T &b)
Definition: btMinMax.h:39
btSetMax
void btSetMax(T &a, const T &b)
Definition: btMinMax.h:48
btScalar.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btQuadWord
The btQuadWord class is base class for btVector3 and btQuaternion.
Definition: btQuadWord.h:34
btQuadWord::btQuadWord
btQuadWord(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Three argument constructor (zeros w)
Definition: btQuadWord.h:188
btQuadWord::w
const btScalar & w() const
Return the w value.
Definition: btQuadWord.h:119
btQuadWord::getY
const btScalar & getY() const
Return the y value.
Definition: btQuadWord.h:101
btQuadWord::setZ
void setZ(btScalar _z)
Set the z value.
Definition: btQuadWord.h:109
btQuadWord::getX
const btScalar & getX() const
Return the x value.
Definition: btQuadWord.h:99
btQuadWord::m_floats
btScalar m_floats[4]
Definition: btQuadWord.h:67
btQuadWord::btQuadWord
btQuadWord(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Initializing constructor.
Definition: btQuadWord.h:199
btQuadWord::setW
void setW(btScalar _w)
Set the w value.
Definition: btQuadWord.h:111
btQuadWord::getZ
const btScalar & getZ() const
Return the z value.
Definition: btQuadWord.h:103
btQuadWord::setMax
void setMax(const btQuadWord &other)
Set each element to the max of the current values and the values of another btQuadWord.
Definition: btQuadWord.h:207
btQuadWord::z
const btScalar & z() const
Return the z value.
Definition: btQuadWord.h:117
btQuadWord::y
const btScalar & y() const
Return the y value.
Definition: btQuadWord.h:115
btQuadWord::setMin
void setMin(const btQuadWord &other)
Set each element to the min of the current values and the values of another btQuadWord.
Definition: btQuadWord.h:223
btQuadWord::operator==
bool operator==(const btQuadWord &other) const
Definition: btQuadWord.h:127
btQuadWord::setY
void setY(btScalar _y)
Set the y value.
Definition: btQuadWord.h:107
btQuadWord::setX
void setX(btScalar _x)
Set the x value.
Definition: btQuadWord.h:105
btQuadWord::btQuadWord
btQuadWord()
No initialization constructor.
Definition: btQuadWord.h:178
btQuadWord::operator!=
bool operator!=(const btQuadWord &other) const
Definition: btQuadWord.h:139
btQuadWord::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set the values.
Definition: btQuadWord.h:170
btQuadWord::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Set x,y,z and zero w.
Definition: btQuadWord.h:149
btQuadWord::x
const btScalar & x() const
Return the x value.
Definition: btQuadWord.h:113