enable premake4 option --ios and Test_LinearMath

usage: ./premake4_osx --ios xcode4
open xcode4ios/0_Bullet3Solution.xcworkspace

build3/premake4.lua

@@ -18,6 +18,11 @@
         act = _ACTION
     end
 
+	  newoption {
+    		trigger     = "ios",
+    		description = "Enable iOS target (requires xcode4)"
+	}
+
 	newoption
         {
                 trigger = "force_dlopen_opengl",
@@ -95,12 +100,25 @@
 	postfix=""
 
 	if _ACTION == "xcode4" then
+			 if _OPTIONS["ios"] then
+                        postfix = "ios";
+                        xcodebuildsettings
+                        {
+                                'INFOPLIST_FILE = "../../test/Bullet2/Info.plist"',
+                                'CODE_SIGN_IDENTITY = "iPhone Developer"',
+                                "SDKROOT = iphoneos",
+                                'ARCHS = "armv7"',
+                                'TARGETED_DEVICE_FAMILY = "1,2"',
+                                'VALID_ARCHS = "armv7"',
+                        }       
+			else
 			xcodebuildsettings
 			{
         		'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
         		'VALID_ARCHS = "x86_64 i386"',
 			'SDKROOT = "macosx10.9"',
 			}
+			end
 	end
 
 -- comment-out for now, URDF reader needs exceptions
@@ -123,6 +141,8 @@
 
 	language "C++"
 
+if not _OPTIONS["ios"] then
+
 	include "../examples/ExampleBrowser"
 	include "../examples/OpenGLWindow"
 	
@@ -137,26 +157,25 @@
 		include "../test/enet/server"	
 	end
 	
-	if not _OPTIONS["without-gtest"] then
-		include "../test/gtest-1.7.0"
---		include "../test/hello_gtest"
-		include "../test/collision"
-		include "../test/TestBullet3OpenCL"
-		include "../test/GwenOpenGLTest"
-	end
-	
-	
-	include "../src/BulletSoftBody"
-	include "../src/BulletDynamics"
-	include "../src/BulletCollision"
-	include "../src/LinearMath"
-	
 	include "../src/Bullet3Common"
 	include "../src/Bullet3Geometry"
 	include "../src/Bullet3Collision"
 	include "../src/Bullet3Dynamics"
 	include "../src/Bullet3OpenCL"
 	include "../src/Bullet3Serialize/Bullet2FileLoader"
-	
+
-	
+ 	if not _OPTIONS["without-gtest"] then
+                include "../test/gtest-1.7.0"
+--              include "../test/hello_gtest"
+                include "../test/collision"
+                include "../test/TestBullet3OpenCL"
+                include "../test/GwenOpenGLTest"
+        end
+end
+
+	include "../test/Bullet2"	
+ 	include "../src/BulletSoftBody"
+        include "../src/BulletDynamics"
+        include "../src/BulletCollision"
+        include "../src/LinearMath"
 	

test/Bullet2/Source/Tests/Test_quat_aos_neon.cpp

@@ -14,7 +14,7 @@
 #include "Utils.h"
 #include "main.h"
 
-#include <vectormath/vmInclude.h>
+#include "../vectormath/vmInclude.h"
 
 
 //typedef Vectormath::Aos::Vector3    vmVector3;

test/Bullet2/premake4.lua

@@ -1,14 +1,15 @@
 
-project "AppUnitTest"
+project "Test_LinearMath"
 
 if _OPTIONS["ios"] then
 	kind "WindowedApp"
 else	
 	kind "ConsoleApp"
 end
-targetdir "bin"
 
-includedirs {"../src","Source", "Source/Tests"}
+targetdir "../../bin"
+
+includedirs {"../../src","Source", "Source/Tests"}
 
 links {
 	"BulletDynamics","BulletCollision", "LinearMath"

test/Bullet2/vectormath/neon/boolInVec.h

@@ -0,0 +1,226 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _BOOLINVEC_H
+#define _BOOLINVEC_H
+
+#include <math.h>
+namespace Vectormath {
+
+class floatInVec;
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec class
+//
+
+class boolInVec
+{
+private:
+    unsigned int mData;
+
+public:
+    // Default constructor; does no initialization
+    //
+    inline boolInVec( ) { };
+
+    // Construct from a value converted from float
+    //
+    inline boolInVec(floatInVec vec);
+
+    // Explicit cast from bool
+    //
+    explicit inline boolInVec(bool scalar);
+
+    // Explicit cast to bool
+    //
+    inline bool getAsBool() const;
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+    // Implicit cast to bool
+    //
+    inline operator bool() const;
+#endif
+
+    // Boolean negation operator
+    //
+    inline const boolInVec operator ! () const;
+
+    // Assignment operator
+    //
+    inline boolInVec& operator = (boolInVec vec);
+
+    // Boolean and assignment operator
+    //
+    inline boolInVec& operator &= (boolInVec vec);
+
+    // Boolean exclusive or assignment operator
+    //
+    inline boolInVec& operator ^= (boolInVec vec);
+
+    // Boolean or assignment operator
+    //
+    inline boolInVec& operator |= (boolInVec vec);
+
+};
+
+// Equal operator
+//
+inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
+
+// Not equal operator
+//
+inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
+
+// And operator
+//
+inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
+
+// Exclusive or operator
+//
+inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
+
+// Or operator
+//
+inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
+
+// Conditionally select between two values
+//
+inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
+
+
+} // namespace Vectormath
+
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec implementation
+//
+
+#include "floatInVec.h"
+
+namespace Vectormath {
+
+inline
+boolInVec::boolInVec(floatInVec vec)
+{
+    *this = (vec != floatInVec(0.0f));
+}
+
+inline
+boolInVec::boolInVec(bool scalar)
+{
+    mData = -(int)scalar;
+}
+
+inline
+bool
+boolInVec::getAsBool() const
+{
+    return (mData > 0);
+}
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+inline
+boolInVec::operator bool() const
+{
+    return getAsBool();
+}
+#endif
+
+inline
+const boolInVec
+boolInVec::operator ! () const
+{
+    return boolInVec(!mData);
+}
+
+inline
+boolInVec&
+boolInVec::operator = (boolInVec vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator &= (boolInVec vec)
+{
+    *this = *this & vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator ^= (boolInVec vec)
+{
+    *this = *this ^ vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator |= (boolInVec vec)
+{
+    *this = *this | vec;
+    return *this;
+}
+
+inline
+const boolInVec
+operator == (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() == vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator != (boolInVec vec0, boolInVec vec1)
+{
+    return !(vec0 == vec1);
+}
+
+inline
+const boolInVec
+operator & (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() & vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator | (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() | vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator ^ (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
+}
+
+inline
+const boolInVec
+select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
+{
+    return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
+}
+
+} // namespace Vectormath
+
+#endif // boolInVec_h
+

test/Bullet2/vectormath/neon/floatInVec.h

@@ -0,0 +1,344 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _FLOATINVEC_H
+#define _FLOATINVEC_H
+
+#include <math.h>
+namespace Vectormath {
+
+class boolInVec;
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec class
+//
+
+// A class representing a scalar float value contained in a vector register
+// This class does not support fastmath
+class floatInVec
+{
+private:
+    float mData;
+
+public:
+    // Default constructor; does no initialization
+    //
+    inline floatInVec( ) { };
+
+    // Construct from a value converted from bool
+    //
+    inline floatInVec(boolInVec vec);
+
+    // Explicit cast from float
+    //
+    explicit inline floatInVec(float scalar);
+
+    // Explicit cast to float
+    //
+    inline float getAsFloat() const;
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+    // Implicit cast to float
+    //
+    inline operator float() const;
+#endif
+
+    // Post increment (add 1.0f)
+    //
+    inline const floatInVec operator ++ (int);
+
+    // Post decrement (subtract 1.0f)
+    //
+    inline const floatInVec operator -- (int);
+
+    // Pre increment (add 1.0f)
+    //
+    inline floatInVec& operator ++ ();
+
+    // Pre decrement (subtract 1.0f)
+    //
+    inline floatInVec& operator -- ();
+
+    // Negation operator
+    //
+    inline const floatInVec operator - () const;
+
+    // Assignment operator
+    //
+    inline floatInVec& operator = (floatInVec vec);
+
+    // Multiplication assignment operator
+    //
+    inline floatInVec& operator *= (floatInVec vec);
+
+    // Division assignment operator
+    //
+    inline floatInVec& operator /= (floatInVec vec);
+
+    // Addition assignment operator
+    //
+    inline floatInVec& operator += (floatInVec vec);
+
+    // Subtraction assignment operator
+    //
+    inline floatInVec& operator -= (floatInVec vec);
+
+};
+
+// Multiplication operator
+//
+inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
+
+// Division operator
+//
+inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
+
+// Addition operator
+//
+inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
+
+// Subtraction operator
+//
+inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
+
+// Less than operator
+//
+inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
+
+// Less than or equal operator
+//
+inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
+
+// Greater than operator
+//
+inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
+
+// Greater than or equal operator
+//
+inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
+
+// Equal operator
+//
+inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
+
+// Not equal operator
+//
+inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
+
+// Conditionally select between two values
+//
+inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
+
+
+} // namespace Vectormath
+
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec implementation
+//
+
+#include "boolInVec.h"
+
+namespace Vectormath {
+
+inline
+floatInVec::floatInVec(boolInVec vec)
+{
+    mData = float(vec.getAsBool());
+}
+
+inline
+floatInVec::floatInVec(float scalar)
+{
+    mData = scalar;
+}
+
+inline
+float
+floatInVec::getAsFloat() const
+{
+    return mData;
+}
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+inline
+floatInVec::operator float() const
+{
+    return getAsFloat();
+}
+#endif
+
+inline
+const floatInVec
+floatInVec::operator ++ (int)
+{
+    float olddata = mData;
+    operator ++();
+    return floatInVec(olddata);
+}
+
+inline
+const floatInVec
+floatInVec::operator -- (int)
+{
+    float olddata = mData;
+    operator --();
+    return floatInVec(olddata);
+}
+
+inline
+floatInVec&
+floatInVec::operator ++ ()
+{
+    *this += floatInVec(1.0f);
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -- ()
+{
+    *this -= floatInVec(1.0f);
+    return *this;
+}
+
+inline
+const floatInVec
+floatInVec::operator - () const
+{
+    return floatInVec(-mData);
+}
+
+inline
+floatInVec&
+floatInVec::operator = (floatInVec vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator *= (floatInVec vec)
+{
+    *this = *this * vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator /= (floatInVec vec)
+{
+    *this = *this / vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator += (floatInVec vec)
+{
+    *this = *this + vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -= (floatInVec vec)
+{
+    *this = *this - vec;
+    return *this;
+}
+
+inline
+const floatInVec
+operator * (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
+}
+
+inline
+const floatInVec
+operator / (floatInVec num, floatInVec den)
+{
+    return floatInVec(num.getAsFloat() / den.getAsFloat());
+}
+
+inline
+const floatInVec
+operator + (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
+}
+
+inline
+const floatInVec
+operator - (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator < (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator <= (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 > vec1);
+}
+
+inline
+const boolInVec
+operator > (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator >= (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 < vec1);
+}
+
+inline
+const boolInVec
+operator == (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator != (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 == vec1);
+}
+
+inline
+const floatInVec
+select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
+{
+    return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
+}
+
+} // namespace Vectormath
+
+#endif // floatInVec_h
+

test/Bullet2/vectormath/neon/quat_aos.h

@@ -0,0 +1,413 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _VECTORMATH_QUAT_AOS_CPP_H
+#define _VECTORMATH_QUAT_AOS_CPP_H
+
+//-----------------------------------------------------------------------------
+// Definitions
+
+#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
+#define _VECTORMATH_INTERNAL_FUNCTIONS
+
+#endif
+
+namespace Vectormath {
+namespace Aos {
+
+    inline Quat::Quat( const Quat & quat )
+    {        
+        vXYZW = quat.vXYZW;
+    }
+    
+    inline Quat::Quat( float _x, float _y, float _z, float _w )
+    {        
+        mXYZW[0] = _x;
+        mXYZW[1] = _y;
+        mXYZW[2] = _z;
+        mXYZW[3] = _w;
+    }
+    
+    inline Quat::Quat( float32x4_t fXYZW )  
+    {        
+        vXYZW = fXYZW;
+    }
+    
+    inline Quat::Quat( const Vector3 & xyz, float _w )
+    {        
+        this->setXYZ( xyz );
+        this->setW( _w );
+    }
+    
+    inline Quat::Quat( const Vector4 & vec )
+    {        
+        mXYZW[0] = vec.getX();
+        mXYZW[1] = vec.getY();
+        mXYZW[2] = vec.getZ();
+        mXYZW[3] = vec.getW();
+    }
+    
+    inline Quat::Quat( float scalar )  
+    {        
+        vXYZW = vdupq_n_f32(scalar);
+    }
+    
+    inline const Quat Quat::identity( )
+    {        
+        return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
+    }
+    
+    inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
+    {        
+        return ( quat0 + ( ( quat1 - quat0 ) * t ) );
+    }
+    
+    inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
+    {
+        Quat start;
+        float recipSinAngle, scale0, scale1, cosAngle, angle;
+        cosAngle = dot( unitQuat0, unitQuat1 );
+        if ( cosAngle < 0.0f ) {
+            cosAngle = -cosAngle;
+            start = ( -unitQuat0 );
+        } else {
+            start = unitQuat0;
+        }
+        if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
+            angle = acosf( cosAngle );
+            recipSinAngle = ( 1.0f / sinf( angle ) );
+            scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
+            scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
+        } else {
+            scale0 = ( 1.0f - t );
+            scale1 = t;
+        }
+        return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
+    }
+    
+    inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
+    {        
+        Quat tmp0, tmp1;
+        tmp0 = slerp( t, unitQuat0, unitQuat3 );
+        tmp1 = slerp( t, unitQuat1, unitQuat2 );
+        return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
+    }
+    
+    inline void loadXYZW( Quat & quat, const float * fptr )
+    {        
+        quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
+    }
+    
+    inline void storeXYZW( const Quat & quat, float * fptr )
+    {        
+        vst1q_f32(fptr, quat.getvXYZW());
+    }
+    
+    inline Quat & Quat::operator =( const Quat & quat )
+    {        
+        vXYZW = quat.getvXYZW();
+        return *this;
+    }
+    
+    inline Quat & Quat::setXYZ( const Vector3 & vec )
+    {        
+        mXYZW[0] = vec.getX();
+        mXYZW[1] = vec.getY();
+        mXYZW[2] = vec.getZ();
+        return *this;
+    }
+    
+    inline const Vector3 Quat::getXYZ( ) const
+    {        
+        return Vector3( mXYZW[0], mXYZW[1], mXYZW[2] );
+    }
+    
+    inline float32x4_t Quat::getvXYZW( ) const
+    {        
+        return vXYZW;
+    }
+    
+    inline Quat & Quat::setX( float _x )
+    {        
+        mXYZW[0] = _x;
+        return *this;
+    }
+    
+    inline float Quat::getX( ) const
+    {        
+        return mXYZW[0];
+    }
+    
+    inline Quat & Quat::setY( float _y )
+    {        
+        mXYZW[1] = _y;
+        return *this;
+    }
+    
+    inline float Quat::getY( ) const
+    {        
+        return mXYZW[1];
+    }
+    
+    inline Quat & Quat::setZ( float _z )
+    {        
+        mXYZW[2] = _z;
+        return *this;
+    }
+    
+    inline float Quat::getZ( ) const
+    {        
+        return mXYZW[2];
+    }
+    
+    inline Quat & Quat::setW( float _w )
+    {        
+        mXYZW[3] = _w;
+        return *this;
+    }
+    
+    inline float Quat::getW( ) const
+    {        
+        return mXYZW[3];
+    }
+    
+    inline Quat & Quat::setElem( int idx, float value )
+    {        
+        *(&mXYZW[0] + idx) = value;
+        return *this;
+    }
+    
+    inline float Quat::getElem( int idx ) const
+    {        
+        return *(&mXYZW[0] + idx);
+    }
+    
+    inline float & Quat::operator []( int idx )
+    {        
+        return *(&mXYZW[0] + idx);
+    }
+    
+    inline float Quat::operator []( int idx ) const
+    {        
+        return *(&mXYZW[0] + idx);
+    }
+    
+    inline const Quat Quat::operator +( const Quat & quat ) const
+    {        
+        return Quat( vaddq_f32(vXYZW, quat.vXYZW) );
+    }
+    
+    inline const Quat Quat::operator -( const Quat & quat ) const
+    {        
+        return Quat( vsubq_f32(vXYZW, quat.vXYZW) );
+    }
+    
+    inline const Quat Quat::operator *( float scalar ) const
+    {        
+        float32x4_t v_scalar = vdupq_n_f32(scalar);
+        return Quat( vmulq_f32(vXYZW, v_scalar) );
+    }
+    
+    inline Quat & Quat::operator +=( const Quat & quat )
+    {        
+        *this = *this + quat;
+        return *this;
+    }
+    
+    inline Quat & Quat::operator -=( const Quat & quat )
+    {
+        *this = *this - quat;
+        return *this;
+    }
+    
+    inline Quat & Quat::operator *=( float scalar )
+    {        
+        *this = *this * scalar;
+        return *this;
+    }
+    
+    inline const Quat Quat::operator /( float scalar ) const
+    {        
+        return Quat(
+                    ( mXYZW[0] / scalar ),
+                    ( mXYZW[1] / scalar ),
+                    ( mXYZW[2] / scalar ),
+                    ( mXYZW[3] / scalar )
+                    );
+    }
+    
+    inline Quat & Quat::operator /=( float scalar )
+    {        
+        *this = *this / scalar;
+        return *this;
+    }
+    
+    inline const Quat Quat::operator -( ) const
+    {        
+        return Quat( vnegq_f32(vXYZW) );
+    }
+    
+    inline const Quat operator *( float scalar, const Quat & quat )
+    {        
+        return quat * scalar;
+    }
+    
+    inline float dot( const Quat & quat0, const Quat & quat1 )
+    {        
+        float result;
+        result = ( quat0.getX() * quat1.getX() );
+        result = ( result + ( quat0.getY() * quat1.getY() ) );
+        result = ( result + ( quat0.getZ() * quat1.getZ() ) );
+        result = ( result + ( quat0.getW() * quat1.getW() ) );
+        return result;
+    }
+    
+    inline float norm( const Quat & quat )
+    {        
+        float result;
+        result = ( quat.getX() * quat.getX() );
+        result = ( result + ( quat.getY() * quat.getY() ) );
+        result = ( result + ( quat.getZ() * quat.getZ() ) );
+        result = ( result + ( quat.getW() * quat.getW() ) );
+        return result;
+    }
+    
+    inline float length( const Quat & quat )
+    {        
+        return ::sqrtf( norm( quat ) );
+    }
+    
+    inline const Quat normalize( const Quat & quat )
+    {        
+        float lenSqr, lenInv;
+        lenSqr = norm( quat );
+        lenInv = ( 1.0f / sqrtf( lenSqr ) );
+        return Quat(
+                    ( quat.getX() * lenInv ),
+                    ( quat.getY() * lenInv ),
+                    ( quat.getZ() * lenInv ),
+                    ( quat.getW() * lenInv )
+                    );
+    }
+    
+    inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
+    {        
+        float cosHalfAngleX2, recipCosHalfAngleX2;
+        cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
+        recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
+        return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
+    }
+    
+    inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
+    {        
+        float s, c, angle;
+        angle = ( radians * 0.5f );
+        s = sinf( angle );
+        c = cosf( angle );
+        return Quat( ( unitVec * s ), c );
+    }
+    
+    inline const Quat Quat::rotationX( float radians )
+    {        
+        float s, c, angle;
+        angle = ( radians * 0.5f );
+        s = sinf( angle );
+        c = cosf( angle );
+        return Quat( s, 0.0f, 0.0f, c );
+    }
+    
+    inline const Quat Quat::rotationY( float radians )
+    {        
+        float s, c, angle;
+        angle = ( radians * 0.5f );
+        s = sinf( angle );
+        c = cosf( angle );
+        return Quat( 0.0f, s, 0.0f, c );
+    }
+    
+    inline const Quat Quat::rotationZ( float radians )
+    {        
+        float s, c, angle;
+        angle = ( radians * 0.5f );
+        s = sinf( angle );
+        c = cosf( angle );
+        return Quat( 0.0f, 0.0f, s, c );
+    }
+    
+    inline const Quat Quat::operator *( const Quat & quat ) const
+    {        
+        return Quat(
+                    ( ( ( ( mXYZW[3] * quat.mXYZW[0] ) + ( mXYZW[0] * quat.mXYZW[3] ) ) + ( mXYZW[1] * quat.mXYZW[2] ) ) - ( mXYZW[2] * quat.mXYZW[1] ) ),
+                    ( ( ( ( mXYZW[3] * quat.mXYZW[1] ) + ( mXYZW[1] * quat.mXYZW[3] ) ) + ( mXYZW[2] * quat.mXYZW[0] ) ) - ( mXYZW[0] * quat.mXYZW[2] ) ),
+                    ( ( ( ( mXYZW[3] * quat.mXYZW[2] ) + ( mXYZW[2] * quat.mXYZW[3] ) ) + ( mXYZW[0] * quat.mXYZW[1] ) ) - ( mXYZW[1] * quat.mXYZW[0] ) ),
+                    ( ( ( ( mXYZW[3] * quat.mXYZW[3] ) - ( mXYZW[0] * quat.mXYZW[0] ) ) - ( mXYZW[1] * quat.mXYZW[1] ) ) - ( mXYZW[2] * quat.mXYZW[2] ) )
+                    );
+    }
+    
+    inline Quat & Quat::operator *=( const Quat & quat )
+    {        
+        *this = *this * quat;
+        return *this;
+    }
+    
+    inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
+    {
+        float tmpX, tmpY, tmpZ, tmpW;
+        tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
+        tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
+        tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
+        tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
+        return Vector3(
+                       ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
+                       ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
+                       ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
+                       );
+    }
+    
+    inline const Quat conj( const Quat & quat )
+    {        
+        return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
+    }
+    
+    inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
+    {
+        return Quat(
+                    ( select1 )? quat1.getX() : quat0.getX(),
+                    ( select1 )? quat1.getY() : quat0.getY(),
+                    ( select1 )? quat1.getZ() : quat0.getZ(),
+                    ( select1 )? quat1.getW() : quat0.getW()
+                    );
+    }
+
+#ifdef _VECTORMATH_DEBUG
+
+inline void print( const Quat & quat )
+{
+    printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+inline void print( const Quat & quat, const char * name )
+{
+    printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+#endif
+
+} // namespace Aos
+} // namespace Vectormath
+
+#endif
+

test/Bullet2/vectormath/scalar/boolInVec.h

@@ -0,0 +1,225 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _BOOLINVEC_H
+#define _BOOLINVEC_H
+
+#include <math.h>
+namespace Vectormath {
+
+class floatInVec;
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec class
+//
+
+class boolInVec
+{
+private:
+    unsigned int mData;
+
+public:
+    // Default constructor; does no initialization
+    //
+    inline boolInVec( ) { };
+
+    // Construct from a value converted from float
+    //
+    inline boolInVec(floatInVec vec);
+
+    // Explicit cast from bool
+    //
+    explicit inline boolInVec(bool scalar);
+
+    // Explicit cast to bool
+    //
+    inline bool getAsBool() const;
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+    // Implicit cast to bool
+    //
+    inline operator bool() const;
+#endif
+
+    // Boolean negation operator
+    //
+    inline const boolInVec operator ! () const;
+
+    // Assignment operator
+    //
+    inline boolInVec& operator = (boolInVec vec);
+
+    // Boolean and assignment operator
+    //
+    inline boolInVec& operator &= (boolInVec vec);
+
+    // Boolean exclusive or assignment operator
+    //
+    inline boolInVec& operator ^= (boolInVec vec);
+
+    // Boolean or assignment operator
+    //
+    inline boolInVec& operator |= (boolInVec vec);
+
+};
+
+// Equal operator
+//
+inline const boolInVec operator == (boolInVec vec0, boolInVec vec1);
+
+// Not equal operator
+//
+inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
+
+// And operator
+//
+inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
+
+// Exclusive or operator
+//
+inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
+
+// Or operator
+//
+inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
+
+// Conditionally select between two values
+//
+inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1);
+
+
+} // namespace Vectormath
+
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec implementation
+//
+
+#include "floatInVec.h"
+
+namespace Vectormath {
+
+inline
+boolInVec::boolInVec(floatInVec vec)
+{
+    *this = (vec != floatInVec(0.0f));
+}
+
+inline
+boolInVec::boolInVec(bool scalar)
+{
+    mData = -(int)scalar;
+}
+
+inline
+bool
+boolInVec::getAsBool() const
+{
+    return (mData > 0);
+}
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+inline
+boolInVec::operator bool() const
+{
+    return getAsBool();
+}
+#endif
+
+inline
+const boolInVec
+boolInVec::operator ! () const
+{
+    return boolInVec(!mData);
+}
+
+inline
+boolInVec&
+boolInVec::operator = (boolInVec vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator &= (boolInVec vec)
+{
+    *this = *this & vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator ^= (boolInVec vec)
+{
+    *this = *this ^ vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator |= (boolInVec vec)
+{
+    *this = *this | vec;
+    return *this;
+}
+
+inline
+const boolInVec
+operator == (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() == vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator != (boolInVec vec0, boolInVec vec1)
+{
+    return !(vec0 == vec1);
+}
+
+inline
+const boolInVec
+operator & (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() & vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator | (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() | vec1.getAsBool());
+}
+
+inline
+const boolInVec
+operator ^ (boolInVec vec0, boolInVec vec1)
+{
+    return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
+}
+
+inline
+const boolInVec
+select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
+{
+    return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
+}
+
+} // namespace Vectormath
+
+#endif // boolInVec_h

test/Bullet2/vectormath/scalar/floatInVec.h

@@ -0,0 +1,343 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _FLOATINVEC_H
+#define _FLOATINVEC_H
+
+#include <math.h>
+namespace Vectormath {
+
+class boolInVec;
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec class
+//
+
+// A class representing a scalar float value contained in a vector register
+// This class does not support fastmath
+class floatInVec
+{
+private:
+    float mData;
+
+public:
+    // Default constructor; does no initialization
+    //
+    inline floatInVec( ) { };
+
+    // Construct from a value converted from bool
+    //
+    inline floatInVec(boolInVec vec);
+
+    // Explicit cast from float
+    //
+    explicit inline floatInVec(float scalar);
+
+    // Explicit cast to float
+    //
+    inline float getAsFloat() const;
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+    // Implicit cast to float
+    //
+    inline operator float() const;
+#endif
+
+    // Post increment (add 1.0f)
+    //
+    inline const floatInVec operator ++ (int);
+
+    // Post decrement (subtract 1.0f)
+    //
+    inline const floatInVec operator -- (int);
+
+    // Pre increment (add 1.0f)
+    //
+    inline floatInVec& operator ++ ();
+
+    // Pre decrement (subtract 1.0f)
+    //
+    inline floatInVec& operator -- ();
+
+    // Negation operator
+    //
+    inline const floatInVec operator - () const;
+
+    // Assignment operator
+    //
+    inline floatInVec& operator = (floatInVec vec);
+
+    // Multiplication assignment operator
+    //
+    inline floatInVec& operator *= (floatInVec vec);
+
+    // Division assignment operator
+    //
+    inline floatInVec& operator /= (floatInVec vec);
+
+    // Addition assignment operator
+    //
+    inline floatInVec& operator += (floatInVec vec);
+
+    // Subtraction assignment operator
+    //
+    inline floatInVec& operator -= (floatInVec vec);
+
+};
+
+// Multiplication operator
+//
+inline const floatInVec operator * (floatInVec vec0, floatInVec vec1);
+
+// Division operator
+//
+inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
+
+// Addition operator
+//
+inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
+
+// Subtraction operator
+//
+inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
+
+// Less than operator
+//
+inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
+
+// Less than or equal operator
+//
+inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
+
+// Greater than operator
+//
+inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
+
+// Greater than or equal operator
+//
+inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
+
+// Equal operator
+//
+inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
+
+// Not equal operator
+//
+inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
+
+// Conditionally select between two values
+//
+inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1);
+
+
+} // namespace Vectormath
+
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec implementation
+//
+
+#include "boolInVec.h"
+
+namespace Vectormath {
+
+inline
+floatInVec::floatInVec(boolInVec vec)
+{
+    mData = float(vec.getAsBool());
+}
+
+inline
+floatInVec::floatInVec(float scalar)
+{
+    mData = scalar;
+}
+
+inline
+float
+floatInVec::getAsFloat() const
+{
+    return mData;
+}
+
+#ifndef _VECTORMATH_NO_SCALAR_CAST
+inline
+floatInVec::operator float() const
+{
+    return getAsFloat();
+}
+#endif
+
+inline
+const floatInVec
+floatInVec::operator ++ (int)
+{
+    float olddata = mData;
+    operator ++();
+    return floatInVec(olddata);
+}
+
+inline
+const floatInVec
+floatInVec::operator -- (int)
+{
+    float olddata = mData;
+    operator --();
+    return floatInVec(olddata);
+}
+
+inline
+floatInVec&
+floatInVec::operator ++ ()
+{
+    *this += floatInVec(1.0f);
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -- ()
+{
+    *this -= floatInVec(1.0f);
+    return *this;
+}
+
+inline
+const floatInVec
+floatInVec::operator - () const
+{
+    return floatInVec(-mData);
+}
+
+inline
+floatInVec&
+floatInVec::operator = (floatInVec vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator *= (floatInVec vec)
+{
+    *this = *this * vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator /= (floatInVec vec)
+{
+    *this = *this / vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator += (floatInVec vec)
+{
+    *this = *this + vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -= (floatInVec vec)
+{
+    *this = *this - vec;
+    return *this;
+}
+
+inline
+const floatInVec
+operator * (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
+}
+
+inline
+const floatInVec
+operator / (floatInVec num, floatInVec den)
+{
+    return floatInVec(num.getAsFloat() / den.getAsFloat());
+}
+
+inline
+const floatInVec
+operator + (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
+}
+
+inline
+const floatInVec
+operator - (floatInVec vec0, floatInVec vec1)
+{
+    return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator < (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator <= (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 > vec1);
+}
+
+inline
+const boolInVec
+operator > (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator >= (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 < vec1);
+}
+
+inline
+const boolInVec
+operator == (floatInVec vec0, floatInVec vec1)
+{
+    return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
+}
+
+inline
+const boolInVec
+operator != (floatInVec vec0, floatInVec vec1)
+{
+    return !(vec0 == vec1);
+}
+
+inline
+const floatInVec
+select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
+{
+    return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
+}
+
+} // namespace Vectormath
+
+#endif // floatInVec_h

test/Bullet2/vectormath/scalar/quat_aos.h

@@ -0,0 +1,433 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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 _VECTORMATH_QUAT_AOS_CPP_H
+#define _VECTORMATH_QUAT_AOS_CPP_H
+
+//-----------------------------------------------------------------------------
+// Definitions
+
+#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
+#define _VECTORMATH_INTERNAL_FUNCTIONS
+
+#endif
+
+namespace Vectormath {
+namespace Aos {
+
+inline Quat::Quat( const Quat & quat )
+{
+    mX = quat.mX;
+    mY = quat.mY;
+    mZ = quat.mZ;
+    mW = quat.mW;
+}
+
+inline Quat::Quat( float _x, float _y, float _z, float _w )
+{
+    mX = _x;
+    mY = _y;
+    mZ = _z;
+    mW = _w;
+}
+
+inline Quat::Quat( const Vector3 & xyz, float _w )
+{
+    this->setXYZ( xyz );
+    this->setW( _w );
+}
+
+inline Quat::Quat( const Vector4 & vec )
+{
+    mX = vec.getX();
+    mY = vec.getY();
+    mZ = vec.getZ();
+    mW = vec.getW();
+}
+
+inline Quat::Quat( float scalar )
+{
+    mX = scalar;
+    mY = scalar;
+    mZ = scalar;
+    mW = scalar;
+}
+
+inline const Quat Quat::identity( )
+{
+    return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
+}
+
+inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
+{
+    return ( quat0 + ( ( quat1 - quat0 ) * t ) );
+}
+
+inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
+{
+    Quat start;
+    float recipSinAngle, scale0, scale1, cosAngle, angle;
+    cosAngle = dot( unitQuat0, unitQuat1 );
+    if ( cosAngle < 0.0f ) {
+        cosAngle = -cosAngle;
+        start = ( -unitQuat0 );
+    } else {
+        start = unitQuat0;
+    }
+    if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
+        angle = acosf( cosAngle );
+        recipSinAngle = ( 1.0f / sinf( angle ) );
+        scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
+        scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
+    } else {
+        scale0 = ( 1.0f - t );
+        scale1 = t;
+    }
+    return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
+}
+
+inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
+{
+    Quat tmp0, tmp1;
+    tmp0 = slerp( t, unitQuat0, unitQuat3 );
+    tmp1 = slerp( t, unitQuat1, unitQuat2 );
+    return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
+}
+
+inline void loadXYZW( Quat & quat, const float * fptr )
+{
+    quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
+}
+
+inline void storeXYZW( const Quat & quat, float * fptr )
+{
+    fptr[0] = quat.getX();
+    fptr[1] = quat.getY();
+    fptr[2] = quat.getZ();
+    fptr[3] = quat.getW();
+}
+
+inline Quat & Quat::operator =( const Quat & quat )
+{
+    mX = quat.mX;
+    mY = quat.mY;
+    mZ = quat.mZ;
+    mW = quat.mW;
+    return *this;
+}
+
+inline Quat & Quat::setXYZ( const Vector3 & vec )
+{
+    mX = vec.getX();
+    mY = vec.getY();
+    mZ = vec.getZ();
+    return *this;
+}
+
+inline const Vector3 Quat::getXYZ( ) const
+{
+    return Vector3( mX, mY, mZ );
+}
+
+inline Quat & Quat::setX( float _x )
+{
+    mX = _x;
+    return *this;
+}
+
+inline float Quat::getX( ) const
+{
+    return mX;
+}
+
+inline Quat & Quat::setY( float _y )
+{
+    mY = _y;
+    return *this;
+}
+
+inline float Quat::getY( ) const
+{
+    return mY;
+}
+
+inline Quat & Quat::setZ( float _z )
+{
+    mZ = _z;
+    return *this;
+}
+
+inline float Quat::getZ( ) const
+{
+    return mZ;
+}
+
+inline Quat & Quat::setW( float _w )
+{
+    mW = _w;
+    return *this;
+}
+
+inline float Quat::getW( ) const
+{
+    return mW;
+}
+
+inline Quat & Quat::setElem( int idx, float value )
+{
+    *(&mX + idx) = value;
+    return *this;
+}
+
+inline float Quat::getElem( int idx ) const
+{
+    return *(&mX + idx);
+}
+
+inline float & Quat::operator []( int idx )
+{
+    return *(&mX + idx);
+}
+
+inline float Quat::operator []( int idx ) const
+{
+    return *(&mX + idx);
+}
+
+inline const Quat Quat::operator +( const Quat & quat ) const
+{
+    return Quat(
+        ( mX + quat.mX ),
+        ( mY + quat.mY ),
+        ( mZ + quat.mZ ),
+        ( mW + quat.mW )
+    );
+}
+
+inline const Quat Quat::operator -( const Quat & quat ) const
+{
+    return Quat(
+        ( mX - quat.mX ),
+        ( mY - quat.mY ),
+        ( mZ - quat.mZ ),
+        ( mW - quat.mW )
+    );
+}
+
+inline const Quat Quat::operator *( float scalar ) const
+{
+    return Quat(
+        ( mX * scalar ),
+        ( mY * scalar ),
+        ( mZ * scalar ),
+        ( mW * scalar )
+    );
+}
+
+inline Quat & Quat::operator +=( const Quat & quat )
+{
+    *this = *this + quat;
+    return *this;
+}
+
+inline Quat & Quat::operator -=( const Quat & quat )
+{
+    *this = *this - quat;
+    return *this;
+}
+
+inline Quat & Quat::operator *=( float scalar )
+{
+    *this = *this * scalar;
+    return *this;
+}
+
+inline const Quat Quat::operator /( float scalar ) const
+{
+    return Quat(
+        ( mX / scalar ),
+        ( mY / scalar ),
+        ( mZ / scalar ),
+        ( mW / scalar )
+    );
+}
+
+inline Quat & Quat::operator /=( float scalar )
+{
+    *this = *this / scalar;
+    return *this;
+}
+
+inline const Quat Quat::operator -( ) const
+{
+    return Quat(
+        -mX,
+        -mY,
+        -mZ,
+        -mW
+    );
+}
+
+inline const Quat operator *( float scalar, const Quat & quat )
+{
+    return quat * scalar;
+}
+
+inline float dot( const Quat & quat0, const Quat & quat1 )
+{
+    float result;
+    result = ( quat0.getX() * quat1.getX() );
+    result = ( result + ( quat0.getY() * quat1.getY() ) );
+    result = ( result + ( quat0.getZ() * quat1.getZ() ) );
+    result = ( result + ( quat0.getW() * quat1.getW() ) );
+    return result;
+}
+
+inline float norm( const Quat & quat )
+{
+    float result;
+    result = ( quat.getX() * quat.getX() );
+    result = ( result + ( quat.getY() * quat.getY() ) );
+    result = ( result + ( quat.getZ() * quat.getZ() ) );
+    result = ( result + ( quat.getW() * quat.getW() ) );
+    return result;
+}
+
+inline float length( const Quat & quat )
+{
+    return ::sqrtf( norm( quat ) );
+}
+
+inline const Quat normalize( const Quat & quat )
+{
+    float lenSqr, lenInv;
+    lenSqr = norm( quat );
+    lenInv = ( 1.0f / sqrtf( lenSqr ) );
+    return Quat(
+        ( quat.getX() * lenInv ),
+        ( quat.getY() * lenInv ),
+        ( quat.getZ() * lenInv ),
+        ( quat.getW() * lenInv )
+    );
+}
+
+inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
+{
+    float cosHalfAngleX2, recipCosHalfAngleX2;
+    cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
+    recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
+    return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
+}
+
+inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( ( unitVec * s ), c );
+}
+
+inline const Quat Quat::rotationX( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( s, 0.0f, 0.0f, c );
+}
+
+inline const Quat Quat::rotationY( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( 0.0f, s, 0.0f, c );
+}
+
+inline const Quat Quat::rotationZ( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( 0.0f, 0.0f, s, c );
+}
+
+inline const Quat Quat::operator *( const Quat & quat ) const
+{
+    return Quat(
+        ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
+        ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ),
+        ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ),
+        ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) )
+    );
+}
+
+inline Quat & Quat::operator *=( const Quat & quat )
+{
+    *this = *this * quat;
+    return *this;
+}
+
+inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
+{
+    float tmpX, tmpY, tmpZ, tmpW;
+    tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
+    tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
+    tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
+    tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
+    return Vector3(
+        ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
+        ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
+        ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
+    );
+}
+
+inline const Quat conj( const Quat & quat )
+{
+    return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
+}
+
+inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
+{
+    return Quat(
+        ( select1 )? quat1.getX() : quat0.getX(),
+        ( select1 )? quat1.getY() : quat0.getY(),
+        ( select1 )? quat1.getZ() : quat0.getZ(),
+        ( select1 )? quat1.getW() : quat0.getW()
+    );
+}
+
+#ifdef _VECTORMATH_DEBUG
+
+inline void print( const Quat & quat )
+{
+    printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+inline void print( const Quat & quat, const char * name )
+{
+    printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+#endif
+
+} // namespace Aos
+} // namespace Vectormath
+
+#endif

test/Bullet2/vectormath/sse/boolInVec.h

@@ -0,0 +1,247 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _BOOLINVEC_H
+#define _BOOLINVEC_H
+
+#include <math.h>
+
+namespace Vectormath {
+
+class floatInVec;
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec class
+//
+
+class boolInVec
+{
+    private:
+        __m128 mData;
+
+        inline boolInVec(__m128 vec);
+    public:
+        inline boolInVec() {}
+
+        // matches standard type conversions
+        //
+        inline boolInVec(const floatInVec &vec);
+
+        // explicit cast from bool
+        //
+        explicit inline boolInVec(bool scalar);
+
+#ifdef _VECTORMATH_NO_SCALAR_CAST
+        // explicit cast to bool
+        // 
+        inline bool getAsBool() const;
+#else
+        // implicit cast to bool
+        // 
+        inline operator bool() const;
+#endif
+        
+        // get vector data
+        // bool value is splatted across all word slots of vector as 0 (false) or -1 (true)
+        //
+        inline __m128 get128() const;
+
+        // operators
+        //
+        inline const boolInVec operator ! () const;
+        inline boolInVec& operator = (const boolInVec &vec);
+        inline boolInVec& operator &= (const boolInVec &vec);
+        inline boolInVec& operator ^= (const boolInVec &vec);
+        inline boolInVec& operator |= (const boolInVec &vec);
+
+        // friend functions
+        //
+        friend inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1);
+        friend inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1);
+        friend inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1);
+        friend inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1);
+        friend inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1);
+        friend inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1);
+};
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec functions
+//
+
+// operators
+//
+inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1);
+inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1);
+inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1);
+inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1);
+inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1);
+
+// select between vec0 and vec1 using boolInVec.
+// false selects vec0, true selects vec1
+//
+inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1);
+
+} // namespace Vectormath
+
+//--------------------------------------------------------------------------------------------------
+// boolInVec implementation
+//
+
+#include "floatInVec.h"
+
+namespace Vectormath {
+
+inline
+boolInVec::boolInVec(__m128 vec)
+{
+    mData = vec;
+}
+
+inline
+boolInVec::boolInVec(const floatInVec &vec)
+{
+    *this = (vec != floatInVec(0.0f));
+}
+
+inline
+boolInVec::boolInVec(bool scalar)
+{
+    unsigned int mask = -(int)scalar;
+	mData = _mm_set1_ps(*(float *)&mask); // TODO: Union
+}
+
+#ifdef _VECTORMATH_NO_SCALAR_CAST
+inline
+bool
+boolInVec::getAsBool() const
+#else
+inline
+boolInVec::operator bool() const
+#endif
+{
+	return *(bool *)&mData;
+}
+
+inline
+__m128
+boolInVec::get128() const
+{
+    return mData;
+}
+
+inline
+const boolInVec
+boolInVec::operator ! () const
+{
+    return boolInVec(_mm_andnot_ps(mData, _mm_cmpneq_ps(_mm_setzero_ps(),_mm_setzero_ps())));
+}
+
+inline
+boolInVec&
+boolInVec::operator = (const boolInVec &vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator &= (const boolInVec &vec)
+{
+    *this = *this & vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator ^= (const boolInVec &vec)
+{
+    *this = *this ^ vec;
+    return *this;
+}
+
+inline
+boolInVec&
+boolInVec::operator |= (const boolInVec &vec)
+{
+    *this = *this | vec;
+    return *this;
+}
+
+inline
+const boolInVec
+operator == (const boolInVec &vec0, const boolInVec &vec1)
+{
+	return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator != (const boolInVec &vec0, const boolInVec &vec1)
+{
+	return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128()));
+}
+    
+inline
+const boolInVec
+operator & (const boolInVec &vec0, const boolInVec &vec1)
+{
+	return boolInVec(_mm_and_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator | (const boolInVec &vec0, const boolInVec &vec1)
+{
+	return boolInVec(_mm_or_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator ^ (const boolInVec &vec0, const boolInVec &vec1)
+{
+	return boolInVec(_mm_xor_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1)
+{
+	return boolInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
+}
+ 
+} // namespace Vectormath
+
+#endif // boolInVec_h

test/Bullet2/vectormath/sse/floatInVec.h

@@ -0,0 +1,340 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _FLOATINVEC_H
+#define _FLOATINVEC_H
+
+#include <math.h>
+#include <xmmintrin.h>
+
+namespace Vectormath {
+
+class boolInVec;
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec class
+//
+
+class floatInVec
+{
+    private:
+        __m128 mData;
+
+    public:
+        inline floatInVec(__m128 vec);
+
+        inline floatInVec() {}
+
+        // matches standard type conversions
+        //
+        inline floatInVec(const boolInVec &vec);
+
+        // construct from a slot of __m128
+        //
+        inline floatInVec(__m128 vec, int slot);
+        
+        // explicit cast from float
+        //
+        explicit inline floatInVec(float scalar);
+
+#ifdef _VECTORMATH_NO_SCALAR_CAST
+        // explicit cast to float
+        // 
+        inline float getAsFloat() const;
+#else
+        // implicit cast to float
+        //
+        inline operator float() const;
+#endif
+
+        // get vector data
+        // float value is splatted across all word slots of vector
+        //
+        inline __m128 get128() const;
+
+        // operators
+        // 
+        inline const floatInVec operator ++ (int);
+        inline const floatInVec operator -- (int);
+        inline floatInVec& operator ++ ();
+        inline floatInVec& operator -- ();
+        inline const floatInVec operator - () const;
+        inline floatInVec& operator = (const floatInVec &vec);
+        inline floatInVec& operator *= (const floatInVec &vec);
+        inline floatInVec& operator /= (const floatInVec &vec);
+        inline floatInVec& operator += (const floatInVec &vec);
+        inline floatInVec& operator -= (const floatInVec &vec);
+
+        // friend functions
+        //
+        friend inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1);
+        friend inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, boolInVec select_vec1);
+};
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec functions
+//
+
+// operators
+// 
+inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1);
+inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1);
+inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1);
+inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1);
+inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1);
+
+// select between vec0 and vec1 using boolInVec.
+// false selects vec0, true selects vec1
+//
+inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1);
+
+} // namespace Vectormath
+
+//--------------------------------------------------------------------------------------------------
+// floatInVec implementation
+//
+
+#include "boolInVec.h"
+
+namespace Vectormath {
+
+inline
+floatInVec::floatInVec(__m128 vec)
+{
+    mData = vec;
+}
+
+inline
+floatInVec::floatInVec(const boolInVec &vec)
+{
+	mData = vec_sel(_mm_setzero_ps(), _mm_set1_ps(1.0f), vec.get128());
+}
+
+inline
+floatInVec::floatInVec(__m128 vec, int slot)
+{
+	SSEFloat v;
+	v.m128 = vec;
+	mData = _mm_set1_ps(v.f[slot]);
+}
+
+inline
+floatInVec::floatInVec(float scalar)
+{
+	mData = _mm_set1_ps(scalar);
+}
+
+#ifdef _VECTORMATH_NO_SCALAR_CAST
+inline
+float
+floatInVec::getAsFloat() const
+#else
+inline
+floatInVec::operator float() const
+#endif
+{
+    return *((float *)&mData);
+}
+
+inline
+__m128
+floatInVec::get128() const
+{
+    return mData;
+}
+
+inline
+const floatInVec
+floatInVec::operator ++ (int)
+{
+    __m128 olddata = mData;
+    operator ++();
+    return floatInVec(olddata);
+}
+
+inline
+const floatInVec
+floatInVec::operator -- (int)
+{
+    __m128 olddata = mData;
+    operator --();
+    return floatInVec(olddata);
+}
+
+inline
+floatInVec&
+floatInVec::operator ++ ()
+{
+    *this += floatInVec(_mm_set1_ps(1.0f));
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -- ()
+{
+    *this -= floatInVec(_mm_set1_ps(1.0f));
+    return *this;
+}
+
+inline
+const floatInVec
+floatInVec::operator - () const
+{
+    return floatInVec(_mm_sub_ps(_mm_setzero_ps(), mData));
+}
+
+inline
+floatInVec&
+floatInVec::operator = (const floatInVec &vec)
+{
+    mData = vec.mData;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator *= (const floatInVec &vec)
+{
+    *this = *this * vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator /= (const floatInVec &vec)
+{
+    *this = *this / vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator += (const floatInVec &vec)
+{
+    *this = *this + vec;
+    return *this;
+}
+
+inline
+floatInVec&
+floatInVec::operator -= (const floatInVec &vec)
+{
+    *this = *this - vec;
+    return *this;
+}
+
+inline
+const floatInVec
+operator * (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return floatInVec(_mm_mul_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const floatInVec
+operator / (const floatInVec &num, const floatInVec &den)
+{
+    return floatInVec(_mm_div_ps(num.get128(), den.get128()));
+}
+
+inline
+const floatInVec
+operator + (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return floatInVec(_mm_add_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const floatInVec
+operator - (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return floatInVec(_mm_sub_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator < (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpgt_ps(vec1.get128(), vec0.get128()));
+}
+
+inline
+const boolInVec
+operator <= (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpge_ps(vec1.get128(), vec0.get128()));
+}
+
+inline
+const boolInVec
+operator > (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpgt_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator >= (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpge_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator == (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128()));
+}
+
+inline
+const boolInVec
+operator != (const floatInVec &vec0, const floatInVec &vec1)
+{
+    return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128()));
+}
+    
+inline
+const floatInVec
+select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1)
+{
+    return floatInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
+}
+
+} // namespace Vectormath
+
+#endif // floatInVec_h

test/Bullet2/vectormath/sse/quat_aos.h

@@ -0,0 +1,579 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+
+#ifndef _VECTORMATH_QUAT_AOS_CPP_H
+#define _VECTORMATH_QUAT_AOS_CPP_H
+
+//-----------------------------------------------------------------------------
+// Definitions
+
+#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
+#define _VECTORMATH_INTERNAL_FUNCTIONS
+
+#endif
+
+namespace Vectormath {
+namespace Aos {
+
+VECTORMATH_FORCE_INLINE void Quat::set128(vec_float4 vec)
+{
+    mVec128 = vec;
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w )
+{
+	mVec128 = _mm_unpacklo_ps(
+		_mm_unpacklo_ps( _x.get128(), _z.get128() ),
+		_mm_unpacklo_ps( _y.get128(), _w.get128() ) );
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, float _w )
+{
+    mVec128 = xyz.get128();
+    _vmathVfSetElement(mVec128, _w, 3);
+}
+
+
+
+VECTORMATH_FORCE_INLINE  Quat::Quat(const Quat& quat)
+{
+	mVec128 = quat.get128();
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( float _x, float _y, float _z, float _w )
+{
+	mVec128 = _mm_setr_ps(_x, _y, _z, _w);
+}
+
+
+
+
+
+VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, const floatInVec &_w )
+{
+    mVec128 = xyz.get128();
+    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( const Vector4 &vec )
+{
+    mVec128 = vec.get128();
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( float scalar )
+{
+    mVec128 = floatInVec(scalar).get128();
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &scalar )
+{
+    mVec128 = scalar.get128();
+}
+
+VECTORMATH_FORCE_INLINE Quat::Quat( __m128 vf4 )
+{
+    mVec128 = vf4;
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::identity( )
+{
+    return Quat( _VECTORMATH_UNIT_0001 );
+}
+
+VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 )
+{
+    return lerp( floatInVec(t), quat0, quat1 );
+}
+
+VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 )
+{
+    return ( quat0 + ( ( quat1 - quat0 ) * t ) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 )
+{
+    return slerp( floatInVec(t), unitQuat0, unitQuat1 );
+}
+
+VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 )
+{
+    Quat start;
+    vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
+    __m128 selectMask;
+    cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
+    selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle );
+    cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask );
+    start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
+    selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
+    angle = acosf4( cosAngle );
+    tttt = t.get128();
+    oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt );
+    angles = vec_mergeh( _mm_set1_ps(1.0f), tttt );
+    angles = vec_mergeh( angles, oneMinusT );
+    angles = vec_madd( angles, angle, _mm_setzero_ps() );
+    sines = sinf4( angles );
+    scales = _mm_div_ps( sines, vec_splat( sines, 0 ) );
+    scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask );
+    scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask );
+    return Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
+{
+    return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 );
+}
+
+VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
+{
+    return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) );
+}
+
+VECTORMATH_FORCE_INLINE __m128 Quat::get128( ) const
+{
+    return mVec128;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat )
+{
+    mVec128 = quat.mVec128;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setXYZ( const Vector3 &vec )
+{
+	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
+	mVec128 = vec_sel( vec.get128(), mVec128, sw );
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ( ) const
+{
+    return Vector3( mVec128 );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setX( float _x )
+{
+    _vmathVfSetElement(mVec128, _x, 0);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setX( const floatInVec &_x )
+{
+    mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::getX( ) const
+{
+    return floatInVec( mVec128, 0 );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setY( float _y )
+{
+    _vmathVfSetElement(mVec128, _y, 1);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setY( const floatInVec &_y )
+{
+    mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::getY( ) const
+{
+    return floatInVec( mVec128, 1 );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setZ( float _z )
+{
+    _vmathVfSetElement(mVec128, _z, 2);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setZ( const floatInVec &_z )
+{
+    mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ( ) const
+{
+    return floatInVec( mVec128, 2 );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setW( float _w )
+{
+    _vmathVfSetElement(mVec128, _w, 3);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setW( const floatInVec &_w )
+{
+    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::getW( ) const
+{
+    return floatInVec( mVec128, 3 );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, float value )
+{
+    _vmathVfSetElement(mVec128, value, idx);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, const floatInVec &value )
+{
+    mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem( int idx ) const
+{
+    return floatInVec( mVec128, idx );
+}
+
+VECTORMATH_FORCE_INLINE VecIdx Quat::operator []( int idx )
+{
+    return VecIdx( mVec128, idx );
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec Quat::operator []( int idx ) const
+{
+    return floatInVec( mVec128, idx );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator +( const Quat &quat ) const
+{
+    return Quat( _mm_add_ps( mVec128, quat.mVec128 ) );
+}
+
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator -( const Quat &quat ) const
+{
+    return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator *( float scalar ) const
+{
+    return *this * floatInVec(scalar);
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const floatInVec &scalar ) const
+{
+    return Quat( _mm_mul_ps( mVec128, scalar.get128() ) );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat )
+{
+    *this = *this + quat;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat )
+{
+    *this = *this - quat;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( float scalar )
+{
+    *this = *this * scalar;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const floatInVec &scalar )
+{
+    *this = *this * scalar;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator /( float scalar ) const
+{
+    return *this / floatInVec(scalar);
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator /( const floatInVec &scalar ) const
+{
+    return Quat( _mm_div_ps( mVec128, scalar.get128() ) );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( float scalar )
+{
+    *this = *this / scalar;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( const floatInVec &scalar )
+{
+    *this = *this / scalar;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator -( ) const
+{
+	return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat )
+{
+    return floatInVec(scalar) * quat;
+}
+
+VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat )
+{
+    return quat * scalar;
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 )
+{
+    return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat )
+{
+    return floatInVec(  _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
+}
+
+VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat )
+{
+    return floatInVec(  _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 );
+}
+
+VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat )
+{
+	vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128());
+    return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) );
+}
+
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 )
+{
+    Vector3 crossVec;
+    __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
+    cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
+    cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) );
+    recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 );
+    cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
+    crossVec = cross( unitVec0, unitVec1 );
+    res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 );
+	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
+    res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw );
+    return Quat( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotation( float radians, const Vector3 &unitVec )
+{
+    return rotation( floatInVec(radians), unitVec );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec )
+{
+    __m128 s, c, angle, res;
+    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
+    sincosf4( angle, &s, &c );
+	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
+    res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw );
+    return Quat( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians )
+{
+    return rotationX( floatInVec(radians) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const floatInVec &radians )
+{
+    __m128 s, c, angle, res;
+    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
+    sincosf4( angle, &s, &c );
+	VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0xffffffff, 0, 0, 0};
+	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
+    res = vec_sel( _mm_setzero_ps(), s, xsw );
+    res = vec_sel( res, c, wsw );
+    return Quat( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( float radians )
+{
+    return rotationY( floatInVec(radians) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const floatInVec &radians )
+{
+    __m128 s, c, angle, res;
+    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
+    sincosf4( angle, &s, &c );
+	VM_ATTRIBUTE_ALIGN16 unsigned int ysw[4] = {0, 0xffffffff, 0, 0};
+	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
+    res = vec_sel( _mm_setzero_ps(), s, ysw );
+    res = vec_sel( res, c, wsw );
+    return Quat( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( float radians )
+{
+    return rotationZ( floatInVec(radians) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const floatInVec &radians )
+{
+    __m128 s, c, angle, res;
+    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
+    sincosf4( angle, &s, &c );
+	VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0, 0, 0xffffffff, 0};
+	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
+    res = vec_sel( _mm_setzero_ps(), s, zsw );
+    res = vec_sel( res, c, wsw );
+    return Quat( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const Quat &quat ) const
+{
+    __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
+    __m128 product, l_wxyz, r_wxyz, xy, qw;
+    ldata = mVec128;
+    rdata = quat.mVec128;
+    tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) );
+    tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) );
+    tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) );
+    tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) );
+    qv = vec_mul( vec_splat( ldata, 3 ), rdata );
+    qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv );
+    qv = vec_madd( tmp0, tmp1, qv );
+    qv = vec_nmsub( tmp2, tmp3, qv );
+    product = vec_mul( ldata, rdata );
+    l_wxyz = vec_sld( ldata, ldata, 12 );
+    r_wxyz = vec_sld( rdata, rdata, 12 );
+    qw = vec_nmsub( l_wxyz, r_wxyz, product );
+    xy = vec_madd( l_wxyz, r_wxyz, product );
+    qw = vec_sub( qw, vec_sld( xy, xy, 8 ) );
+	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
+    return Quat( vec_sel( qv, qw, sw ) );
+}
+
+VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat )
+{
+    *this = *this * quat;
+    return *this;
+}
+
+VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &quat, const Vector3 &vec )
+{    __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
+    qdata = quat.get128();
+    vdata = vec.get128();
+    tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) );
+    tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) );
+    tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) );
+    tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) );
+    wwww = vec_splat( qdata, 3 );
+    qv = vec_mul( wwww, vdata );
+    qv = vec_madd( tmp0, tmp1, qv );
+    qv = vec_nmsub( tmp2, tmp3, qv );
+    product = vec_mul( qdata, vdata );
+    qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product );
+    qw = vec_add( vec_sld( product, product, 8 ), qw );
+    tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) );
+    tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) );
+    res = vec_mul( vec_splat( qw, 0 ), qdata );
+    res = vec_madd( wwww, qv, res );
+    res = vec_madd( tmp0, tmp1, res );
+    res = vec_nmsub( tmp2, tmp3, res );
+    return Vector3( res );
+}
+
+VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat )
+{
+	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0};
+    return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) );
+}
+
+VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 )
+{
+    return select( quat0, quat1, boolInVec(select1) );
+}
+
+//VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 )
+//{
+//    return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) );
+//}
+
+VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr)
+{
+#ifdef USE_SSE3_LDDQU
+	quat = Quat(	SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128		);
+#else
+	SSEFloat fl;
+	fl.f[0] = fptr[0];
+	fl.f[1] = fptr[1];
+	fl.f[2] = fptr[2];
+	fl.f[3] = fptr[3];
+    quat = Quat(	fl.m128);
+#endif
+    
+
+}
+
+VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr)
+{
+	fptr[0] = quat.getX();
+	fptr[1] = quat.getY();
+	fptr[2] = quat.getZ();
+	fptr[3] = quat.getW();
+//    _mm_storeu_ps((float*)quat.get128(),fptr);
+}
+
+
+
+#ifdef _VECTORMATH_DEBUG
+
+VECTORMATH_FORCE_INLINE void print( const Quat &quat )
+{
+    union { __m128 v; float s[4]; } tmp;
+    tmp.v = quat.get128();
+    printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
+}
+
+VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name )
+{
+    union { __m128 v; float s[4]; } tmp;
+    tmp.v = quat.get128();
+    printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
+}
+
+#endif
+
+} // namespace Aos
+} // namespace Vectormath
+
+#endif

test/Bullet2/vectormath/sse/vecidx_aos.h

@@ -0,0 +1,80 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_VECIDX_AOS_H
+#define _VECTORMATH_VECIDX_AOS_H
+
+
+#include "floatInVec.h"
+
+namespace Vectormath {
+namespace Aos {
+
+//-----------------------------------------------------------------------------
+// VecIdx 
+// Used in setting elements of Vector3, Vector4, Point3, or Quat with the 
+// subscripting operator.
+//
+
+VM_ATTRIBUTE_ALIGNED_CLASS16 (class) VecIdx
+{
+private:
+   __m128 &ref;
+   int i;
+public:
+    inline VecIdx( __m128& vec, int idx ): ref(vec) { i = idx; }
+
+    // implicitly casts to float unless _VECTORMATH_NO_SCALAR_CAST defined
+    // in which case, implicitly casts to floatInVec, and one must call
+    // getAsFloat to convert to float.
+    //
+#ifdef _VECTORMATH_NO_SCALAR_CAST
+    inline operator floatInVec() const;
+    inline float getAsFloat() const;
+#else
+    inline operator float() const;
+#endif
+
+    inline float operator =( float scalar );
+    inline floatInVec operator =( const floatInVec &scalar );
+    inline floatInVec operator =( const VecIdx& scalar );
+    inline floatInVec operator *=( float scalar );
+    inline floatInVec operator *=( const floatInVec &scalar );
+    inline floatInVec operator /=( float scalar );
+    inline floatInVec operator /=( const floatInVec &scalar );
+    inline floatInVec operator +=( float scalar );
+    inline floatInVec operator +=( const floatInVec &scalar );
+    inline floatInVec operator -=( float scalar );
+    inline floatInVec operator -=( const floatInVec &scalar );
+};
+
+} // namespace Aos
+} // namespace Vectormath
+
+#endif

test/Bullet2/vectormath/vmInclude.h

@@ -0,0 +1,31 @@
+
+#ifndef __VM_INCLUDE_H
+#define __VM_INCLUDE_H
+
+#include "LinearMath/btScalar.h"
+
+#if defined (USE_SYSTEM_VECTORMATH) || defined (__CELLOS_LV2__)
+	#include <vectormath_aos.h>
+#else //(USE_SYSTEM_VECTORMATH)
+	#if defined (BT_USE_SSE) 
+		#include "sse/vectormath_aos.h"
+	#else //all other platforms
+        #if defined (BT_USE_NEON)
+            #include "neon/vectormath_aos.h"
+        #else
+            #include "scalar/vectormath_aos.h"
+        #endif
+	#endif //(BT_USE_SSE) && defined (_WIN32)
+#endif //(USE_SYSTEM_VECTORMATH)
+
+
+
+typedef Vectormath::Aos::Vector3    vmVector3;
+typedef Vectormath::Aos::Quat       vmQuat;
+typedef Vectormath::Aos::Matrix3    vmMatrix3;
+typedef Vectormath::Aos::Transform3 vmTransform3;
+typedef Vectormath::Aos::Point3     vmPoint3;
+
+#endif //__VM_INCLUDE_H
+
+

test/collision/premake4.lua

@@ -1,5 +1,5 @@
 
-	project "test_bullet_collision"
+	project "Test_BulletCollision"
 		
 	kind "ConsoleApp"