1 /*
2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
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 #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
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.
27 */
28 #ifndef USE_LIBSPE2
ATTRIBUTE_ALIGNED16(class)29 ATTRIBUTE_ALIGNED16(class)
30 btQuadWord
31 #else
32 class btQuadWord
33 #endif
34 {
35 protected:
36 #if defined(__SPU__) && defined(__CELLOS_LV2__)
37 union {
38 vec_float4 mVec128;
39 btScalar m_floats[4];
40 };
41
42 public:
43 vec_float4 get128() const
44 {
45 return mVec128;
46 }
47
48 protected:
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
57 public:
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
72 public:
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
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]; }
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]; }
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]; }
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
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
148 */
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 */
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
169 */
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 }
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.))
180 {
181 }
182
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
187 */
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
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
198 */
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
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
206 */
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 }
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
222 */
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
239