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 SIMD__VECTOR3_H
#define SIMD__VECTOR3_H


#include "btScalar.h"
#include "btMinMax.h"

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




ATTRIBUTE_ALIGNED16(class) btVector3
{
public:

#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__
#ifdef BT_USE_SSE // _WIN32
        union {
                __m128 mVec128;
                btScalar        m_floats[4];
        };
        SIMD_FORCE_INLINE       __m128  get128() const
        {
                return mVec128;
        }
        SIMD_FORCE_INLINE       void    set128(__m128 v128)
        {
                mVec128 = v128;
        }
#else
        btScalar        m_floats[4];
#endif
#endif //__CELLOS_LV2__ __SPU__

        public:

        SIMD_FORCE_INLINE btVector3() {
        m_floats[0]=m_floats[1]=m_floats[2]=m_floats[3]=btScalar(0.);}

 
        
        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.);
        }

        
        SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
        {

                m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2];
                return *this;
        }


        SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
        {
                m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
                return *this;
        }
        SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
        {
                m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
                return *this;
        }

        SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
        {
                btFullAssert(s != btScalar(0.0));
                return *this *= btScalar(1.0) / s;
        }

        SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
        {
                return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2];
        }

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

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

        SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;

        SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;

        SIMD_FORCE_INLINE btVector3& safeNormalize() 
        {
                btVector3 absVec = this->absolute();
                int maxIndex = absVec.maxAxis();
                if (absVec[maxIndex]>0)
                {
                        *this /= absVec[maxIndex];
                        return *this /= length();
                }
                setValue(1,0,0);
                return *this;
        }

        SIMD_FORCE_INLINE btVector3& normalize() 
        {
                return *this /= length();
        }

        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 
        {
                return btVector3(
                        btFabs(m_floats[0]), 
                        btFabs(m_floats[1]), 
                        btFabs(m_floats[2]));
        }
        SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
        {
                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]);
        }

        SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
        {
                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]);
        }

        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)
        {
                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];
        }

        SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
        {
                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);
        }

        SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
        {
                m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2];
                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
        {
                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]));
        }

        SIMD_FORCE_INLINE       bool    operator!=(const btVector3& other) const
        {
                return !(*this == other);
        }

                SIMD_FORCE_INLINE void  setMax(const btVector3& other)
                {
                        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());
                }
                SIMD_FORCE_INLINE void  setMin(const btVector3& other)
                {
                        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());
                }

                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.);
                }

                void    getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
                {
                        v0->setValue(0.         ,-z()           ,y());
                        v1->setValue(z()        ,0.                     ,-x());
                        v2->setValue(-y()       ,x()    ,0.);
                }

                void    setZero()
                {
                        setValue(btScalar(0.),btScalar(0.),btScalar(0.));
                }

                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_FORCE_INLINE       void    serialize(struct        btVector3Data& dataOut) const;

                SIMD_FORCE_INLINE       void    deSerialize(const struct        btVector3Data& 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 btVector3 
operator+(const btVector3& v1, const btVector3& v2) 
{
        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]);
}

SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v1, const btVector3& v2) 
{
        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]);
}

SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v1, const btVector3& v2)
{
        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]);
}
SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v)
{
        return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
}

SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v, const btScalar& s)
{
        return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
}

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));
        return v * (btScalar(1.0) / s);
}

SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v1, const btVector3& v2)
{
        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]);
}

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
{
        return *this / length();
} 

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

        btVector3 o = wAxis * wAxis.dot( *this );
        btVector3 x = *this - o;
        btVector3 y;

        y = wAxis.cross( *this );

        return ( o + x * btCos( angle ) + y * btSin( angle ) );
}

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;
        }


        SIMD_FORCE_INLINE btVector4 absolute4() const 
        {
                return btVector4(
                        btFabs(m_floats[0]), 
                        btFabs(m_floats[1]), 
                        btFabs(m_floats[2]),
                        btFabs(m_floats[3]));
        }



        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;
                        maxVal = m_floats[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;
                        minVal = m_floats[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;
        unsigned char* src  = (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;
        unsigned char* src  = (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     btVector3Data& dataIn)
{
        for (int i=0;i<4;i++)
                m_floats[i] = dataIn.m_floats[i];
}


#endif //SIMD__VECTOR3_H