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
30 /**@brief The btQuadWord class is base class for btVector3 and btQuaternion.
31 * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
32 */
33 #ifndef USE_LIBSPE2
ATTRIBUTE_ALIGNED16(class)34 ATTRIBUTE_ALIGNED16(class) btQuadWord
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
69 btScalar m_floats[4];
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
85 SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
86 {
87 mVec128 = rhs.mVec128;
88 }
89
90 // Assignment Operator
91 SIMD_FORCE_INLINE btQuadWord&
92 operator=(const btQuadWord& v)
93 {
94 mVec128 = v.mVec128;
95
96 return *this;
97 }
98
99 #endif
100
101 /**@brief Return the x value */
102 SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
103 /**@brief Return the y value */
104 SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
105 /**@brief Return the z value */
106 SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
107 /**@brief Set the x value */
108 SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;};
109 /**@brief Set the y value */
110 SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;};
111 /**@brief Set the z value */
112 SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;};
113 /**@brief Set the w value */
114 SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
115 /**@brief Return the x value */
116 SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
117 /**@brief Return the y value */
118 SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
119 /**@brief Return the z value */
120 SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
121 /**@brief Return the w value */
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]; }
126 ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
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
147 /**@brief Set x,y,z and zero w
148 * @param x Value of x
149 * @param y Value of y
150 * @param z Value of z
151 */
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 */
167 /**@brief Set the values
168 * @param x Value of x
169 * @param y Value of y
170 * @param z Value of z
171 * @param w Value of w
172 */
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 }
180 /**@brief No initialization constructor */
181 SIMD_FORCE_INLINE btQuadWord()
182 // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
183 {
184 }
185
186 /**@brief Three argument constructor (zeros w)
187 * @param x Value of x
188 * @param y Value of y
189 * @param z Value of z
190 */
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
196 /**@brief Initializing constructor
197 * @param x Value of x
198 * @param y Value of y
199 * @param z Value of z
200 * @param w Value of w
201 */
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
207 /**@brief Set each element to the max of the current values and the values of another btQuadWord
208 * @param other The other btQuadWord to compare with
209 */
210 SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
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 }
223 /**@brief Set each element to the min of the current values and the values of another btQuadWord
224 * @param other The other btQuadWord to compare with
225 */
226 SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
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
245