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Code-style consistency improvement:

Browse Source 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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193
test/Bullet2/vectormath/neon/boolInVec.h
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@@ -18,8 +18,8 @@ subject to the following restrictions:
#define _BOOLINVEC_H
#include <math.h>
namespace Vectormath {
namespace Vectormath
{
class floatInVec;
//--------------------------------------------------------------------------------------------------
@@ -29,80 +29,77 @@ class floatInVec;
class boolInVec
{
private:
unsigned int mData;
unsigned int mData;
public:
// Default constructor; does no initialization
//
inline boolInVec( ) { };
// Default constructor; does no initialization
//
inline boolInVec(){};
// Construct from a value converted from float
//
inline boolInVec(floatInVec vec);
// Construct from a value converted from float
//
inline boolInVec(floatInVec vec);
// Explicit cast from bool
//
explicit inline boolInVec(bool scalar);
// Explicit cast from bool
//
explicit inline boolInVec(bool scalar);
// Explicit cast to bool
//
inline bool getAsBool() const;
// Explicit cast to bool
//
inline bool getAsBool() const;
#ifndef _VECTORMATH_NO_SCALAR_CAST
// Implicit cast to bool
//
inline operator bool() const;
// Implicit cast to bool
//
inline operator bool() const;
#endif
// Boolean negation operator
//
inline const boolInVec operator ! () const;
// Boolean negation operator
//
inline const boolInVec operator!() const;
// Assignment operator
//
inline boolInVec& operator = (boolInVec vec);
// Assignment operator
//
inline boolInVec& operator=(boolInVec vec);
// Boolean and 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);
// 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);
inline const boolInVec operator==(boolInVec vec0, boolInVec vec1);
// Not equal operator
//
inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator!=(boolInVec vec0, boolInVec vec1);
// And operator
//
inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator&(boolInVec vec0, boolInVec vec1);
// Exclusive or operator
//
inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator^(boolInVec vec0, boolInVec vec1);
// Or operator
//
inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// boolInVec implementation
@@ -110,117 +107,101 @@ inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_v
#include "floatInVec.h"
namespace Vectormath {
inline
boolInVec::boolInVec(floatInVec vec)
namespace Vectormath
{
*this = (vec != floatInVec(0.0f));
inline boolInVec::boolInVec(floatInVec vec)
{
*this = (vec != floatInVec(0.0f));
}
inline
boolInVec::boolInVec(bool scalar)
inline boolInVec::boolInVec(bool scalar)
{
mData = -(int)scalar;
mData = -(int)scalar;
}
inline
bool
inline bool
boolInVec::getAsBool() const
{
return (mData > 0);
return (mData > 0);
}
#ifndef _VECTORMATH_NO_SCALAR_CAST
inline
boolInVec::operator bool() const
inline boolInVec::operator bool() const
{
return getAsBool();
return getAsBool();
}
#endif
inline
const boolInVec
boolInVec::operator ! () const
inline const boolInVec
boolInVec::operator!() const
{
return boolInVec(!mData);
return boolInVec(!mData);
}
inline
boolInVec&
boolInVec::operator = (boolInVec vec)
inline boolInVec&
boolInVec::operator=(boolInVec vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
boolInVec&
boolInVec::operator &= (boolInVec vec)
inline boolInVec&
boolInVec::operator&=(boolInVec vec)
{
*this = *this & vec;
return *this;
*this = *this & vec;
return *this;
}
inline
boolInVec&
boolInVec::operator ^= (boolInVec vec)
inline boolInVec&
boolInVec::operator^=(boolInVec vec)
{
*this = *this ^ vec;
return *this;
*this = *this ^ vec;
return *this;
}
inline
boolInVec&
boolInVec::operator |= (boolInVec vec)
inline boolInVec&
boolInVec::operator|=(boolInVec vec)
{
*this = *this | vec;
return *this;
*this = *this | vec;
return *this;
}
inline
const boolInVec
operator == (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator==(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
}
inline
const boolInVec
operator != (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator!=(boolInVec vec0, boolInVec vec1)
{
return !(vec0 == vec1);
return !(vec0 == vec1);
}
inline
const boolInVec
operator & (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator&(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
}
inline
const boolInVec
operator | (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator|(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
}
inline
const boolInVec
operator ^ (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator^(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
}
inline
const boolInVec
inline const boolInVec
select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
{
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
}
} // namespace Vectormath
#endif // boolInVec_h
} // namespace Vectormath
#endif // boolInVec_h

317
test/Bullet2/vectormath/neon/floatInVec.h
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@@ -17,8 +17,8 @@ subject to the following restrictions:
#define _FLOATINVEC_H
#include <math.h>
namespace Vectormath {
namespace Vectormath
{
class boolInVec;
//--------------------------------------------------------------------------------------------------
@@ -30,120 +30,117 @@ class boolInVec;
class floatInVec
{
private:
float mData;
float mData;
public:
// Default constructor; does no initialization
//
inline floatInVec( ) { };
// Default constructor; does no initialization
//
inline floatInVec(){};
// Construct from a value converted from bool
//
inline floatInVec(boolInVec vec);
// Construct from a value converted from bool
//
inline floatInVec(boolInVec vec);
// Explicit cast from float
//
explicit inline floatInVec(float scalar);
// Explicit cast from float
//
explicit inline floatInVec(float scalar);
// Explicit cast to float
//
inline float getAsFloat() const;
// Explicit cast to float
//
inline float getAsFloat() const;
#ifndef _VECTORMATH_NO_SCALAR_CAST
// Implicit cast to float
//
inline operator float() const;
// Implicit cast to float
//
inline operator float() const;
#endif
// Post increment (add 1.0f)
//
inline const floatInVec operator ++ (int);
// Post increment (add 1.0f)
//
inline const floatInVec operator++(int);
// Post decrement (subtract 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 increment (add 1.0f)
//
inline floatInVec& operator++();
// Pre decrement (subtract 1.0f)
//
inline floatInVec& operator -- ();
// Pre decrement (subtract 1.0f)
//
inline floatInVec& operator--();
// Negation operator
//
inline const floatInVec operator - () const;
// Negation operator
//
inline const floatInVec operator-() const;
// Assignment operator
//
inline floatInVec& operator = (floatInVec vec);
// Assignment operator
//
inline floatInVec& operator=(floatInVec vec);
// Multiplication assignment operator
//
inline floatInVec& operator *= (floatInVec vec);
// Multiplication assignment operator
//
inline floatInVec& operator*=(floatInVec vec);
// Division 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);
// 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);
inline const floatInVec operator*(floatInVec vec0, floatInVec vec1);
// Division operator
//
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator/(floatInVec vec0, floatInVec vec1);
// Addition operator
//
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator+(floatInVec vec0, floatInVec vec1);
// Subtraction operator
//
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator-(floatInVec vec0, floatInVec vec1);
// Less than operator
//
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator<(floatInVec vec0, floatInVec vec1);
// Less than or equal operator
//
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator<=(floatInVec vec0, floatInVec vec1);
// Greater than operator
//
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator>(floatInVec vec0, floatInVec vec1);
// Greater than or equal operator
//
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator>=(floatInVec vec0, floatInVec vec1);
// Equal operator
//
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator==(floatInVec vec0, floatInVec vec1);
// Not equal operator
//
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// floatInVec implementation
@@ -151,194 +148,168 @@ inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec selec
#include "boolInVec.h"
namespace Vectormath {
inline
floatInVec::floatInVec(boolInVec vec)
namespace Vectormath
{
mData = float(vec.getAsBool());
inline floatInVec::floatInVec(boolInVec vec)
{
mData = float(vec.getAsBool());
}
inline
floatInVec::floatInVec(float scalar)
inline floatInVec::floatInVec(float scalar)
{
mData = scalar;
mData = scalar;
}
inline
float
inline float
floatInVec::getAsFloat() const
{
return mData;
return mData;
}
#ifndef _VECTORMATH_NO_SCALAR_CAST
inline
floatInVec::operator float() const
inline floatInVec::operator float() const
{
return getAsFloat();
return getAsFloat();
}
#endif
inline
const floatInVec
floatInVec::operator ++ (int)
inline const floatInVec
floatInVec::operator++(int)
{
float olddata = mData;
operator ++();
return floatInVec(olddata);
float olddata = mData;
operator++();
return floatInVec(olddata);
}
inline
const floatInVec
floatInVec::operator -- (int)
inline const floatInVec
floatInVec::operator--(int)
{
float olddata = mData;
operator --();
return floatInVec(olddata);
float olddata = mData;
operator--();
return floatInVec(olddata);
}
inline
floatInVec&
floatInVec::operator ++ ()
inline floatInVec&
floatInVec::operator++()
{
*this += floatInVec(1.0f);
return *this;
*this += floatInVec(1.0f);
return *this;
}
inline
floatInVec&
floatInVec::operator -- ()
inline floatInVec&
floatInVec::operator--()
{
*this -= floatInVec(1.0f);
return *this;
*this -= floatInVec(1.0f);
return *this;
}
inline
const floatInVec
floatInVec::operator - () const
inline const floatInVec
floatInVec::operator-() const
{
return floatInVec(-mData);
return floatInVec(-mData);
}
inline
floatInVec&
floatInVec::operator = (floatInVec vec)
inline floatInVec&
floatInVec::operator=(floatInVec vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
floatInVec&
floatInVec::operator *= (floatInVec vec)
inline floatInVec&
floatInVec::operator*=(floatInVec vec)
{
*this = *this * vec;
return *this;
*this = *this * vec;
return *this;
}
inline
floatInVec&
floatInVec::operator /= (floatInVec vec)
inline floatInVec&
floatInVec::operator/=(floatInVec vec)
{
*this = *this / vec;
return *this;
*this = *this / vec;
return *this;
}
inline
floatInVec&
floatInVec::operator += (floatInVec vec)
inline floatInVec&
floatInVec::operator+=(floatInVec vec)
{
*this = *this + vec;
return *this;
*this = *this + vec;
return *this;
}
inline
floatInVec&
floatInVec::operator -= (floatInVec vec)
inline floatInVec&
floatInVec::operator-=(floatInVec vec)
{
*this = *this - vec;
return *this;
*this = *this - vec;
return *this;
}
inline
const floatInVec
operator * (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator*(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
}
inline
const floatInVec
operator / (floatInVec num, floatInVec den)
inline const floatInVec
operator/(floatInVec num, floatInVec den)
{
return floatInVec(num.getAsFloat() / den.getAsFloat());
return floatInVec(num.getAsFloat() / den.getAsFloat());
}
inline
const floatInVec
operator + (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator+(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
}
inline
const floatInVec
operator - (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator-(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
}
inline
const boolInVec
operator < (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator<(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
}
inline
const boolInVec
operator <= (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator<=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 > vec1);
return !(vec0 > vec1);
}
inline
const boolInVec
operator > (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator>(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
}
inline
const boolInVec
operator >= (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator>=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 < vec1);
return !(vec0 < vec1);
}
inline
const boolInVec
operator == (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator==(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
}
inline
const boolInVec
operator != (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator!=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 == vec1);
return !(vec0 == vec1);
}
inline
const floatInVec
inline const floatInVec
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
{
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
}
} // namespace Vectormath
#endif // floatInVec_h
} // namespace Vectormath
#endif // floatInVec_h

2083
test/Bullet2/vectormath/neon/mat_aos.h
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File diff suppressed because it is too large Load Diff

745
test/Bullet2/vectormath/neon/quat_aos.h
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@@ -25,389 +25,390 @@ subject to the following restrictions:
#endif
namespace Vectormath {
namespace Aos {
namespace Vectormath
{
namespace Aos
{
inline Quat::Quat(const Quat &quat)
{
vXYZW = quat.vXYZW;
}
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()
);
}
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 )
inline void print(const Quat &quat)
{
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
printf("( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW());
}
inline void print( const Quat & quat, const char * name )
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() );
printf("%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW());
}
#endif
} // namespace Aos
} // namespace Vectormath
} // namespace Aos
} // namespace Vectormath
#endif

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192
test/Bullet2/vectormath/scalar/boolInVec.h
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@@ -18,8 +18,8 @@ subject to the following restrictions:
#define _BOOLINVEC_H
#include <math.h>
namespace Vectormath {
namespace Vectormath
{
class floatInVec;
//--------------------------------------------------------------------------------------------------
@@ -29,80 +29,77 @@ class floatInVec;
class boolInVec
{
private:
unsigned int mData;
unsigned int mData;
public:
// Default constructor; does no initialization
//
inline boolInVec( ) { };
// Default constructor; does no initialization
//
inline boolInVec(){};
// Construct from a value converted from float
//
inline boolInVec(floatInVec vec);
// Construct from a value converted from float
//
inline boolInVec(floatInVec vec);
// Explicit cast from bool
//
explicit inline boolInVec(bool scalar);
// Explicit cast from bool
//
explicit inline boolInVec(bool scalar);
// Explicit cast to bool
//
inline bool getAsBool() const;
// Explicit cast to bool
//
inline bool getAsBool() const;
#ifndef _VECTORMATH_NO_SCALAR_CAST
// Implicit cast to bool
//
inline operator bool() const;
// Implicit cast to bool
//
inline operator bool() const;
#endif
// Boolean negation operator
//
inline const boolInVec operator ! () const;
// Boolean negation operator
//
inline const boolInVec operator!() const;
// Assignment operator
//
inline boolInVec& operator = (boolInVec vec);
// Assignment operator
//
inline boolInVec& operator=(boolInVec vec);
// Boolean and 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);
// 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);
inline const boolInVec operator==(boolInVec vec0, boolInVec vec1);
// Not equal operator
//
inline const boolInVec operator != (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator!=(boolInVec vec0, boolInVec vec1);
// And operator
//
inline const boolInVec operator & (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator&(boolInVec vec0, boolInVec vec1);
// Exclusive or operator
//
inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1);
inline const boolInVec operator^(boolInVec vec0, boolInVec vec1);
// Or operator
//
inline const boolInVec operator | (boolInVec vec0, boolInVec vec1);
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// boolInVec implementation
@@ -110,116 +107,101 @@ inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_v
#include "floatInVec.h"
namespace Vectormath {
inline
boolInVec::boolInVec(floatInVec vec)
namespace Vectormath
{
*this = (vec != floatInVec(0.0f));
inline boolInVec::boolInVec(floatInVec vec)
{
*this = (vec != floatInVec(0.0f));
}
inline
boolInVec::boolInVec(bool scalar)
inline boolInVec::boolInVec(bool scalar)
{
mData = -(int)scalar;
mData = -(int)scalar;
}
inline
bool
inline bool
boolInVec::getAsBool() const
{
return (mData > 0);
return (mData > 0);
}
#ifndef _VECTORMATH_NO_SCALAR_CAST
inline
boolInVec::operator bool() const
inline boolInVec::operator bool() const
{
return getAsBool();
return getAsBool();
}
#endif
inline
const boolInVec
boolInVec::operator ! () const
inline const boolInVec
boolInVec::operator!() const
{
return boolInVec(!mData);
return boolInVec(!mData);
}
inline
boolInVec&
boolInVec::operator = (boolInVec vec)
inline boolInVec&
boolInVec::operator=(boolInVec vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
boolInVec&
boolInVec::operator &= (boolInVec vec)
inline boolInVec&
boolInVec::operator&=(boolInVec vec)
{
*this = *this & vec;
return *this;
*this = *this & vec;
return *this;
}
inline
boolInVec&
boolInVec::operator ^= (boolInVec vec)
inline boolInVec&
boolInVec::operator^=(boolInVec vec)
{
*this = *this ^ vec;
return *this;
*this = *this ^ vec;
return *this;
}
inline
boolInVec&
boolInVec::operator |= (boolInVec vec)
inline boolInVec&
boolInVec::operator|=(boolInVec vec)
{
*this = *this | vec;
return *this;
*this = *this | vec;
return *this;
}
inline
const boolInVec
operator == (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator==(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
return boolInVec(vec0.getAsBool() == vec1.getAsBool());
}
inline
const boolInVec
operator != (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator!=(boolInVec vec0, boolInVec vec1)
{
return !(vec0 == vec1);
return !(vec0 == vec1);
}
inline
const boolInVec
operator & (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator&(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
return boolInVec(vec0.getAsBool() & vec1.getAsBool());
}
inline
const boolInVec
operator | (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator|(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
return boolInVec(vec0.getAsBool() | vec1.getAsBool());
}
inline
const boolInVec
operator ^ (boolInVec vec0, boolInVec vec1)
inline const boolInVec
operator^(boolInVec vec0, boolInVec vec1)
{
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
return boolInVec(vec0.getAsBool() ^ vec1.getAsBool());
}
inline
const boolInVec
inline const boolInVec
select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1)
{
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
}
} // namespace Vectormath
} // namespace Vectormath
#endif // boolInVec_h
#endif // boolInVec_h

316
test/Bullet2/vectormath/scalar/floatInVec.h
View File

@@ -17,8 +17,8 @@ subject to the following restrictions:
#define _FLOATINVEC_H
#include <math.h>
namespace Vectormath {
namespace Vectormath
{
class boolInVec;
//--------------------------------------------------------------------------------------------------
@@ -30,120 +30,117 @@ class boolInVec;
class floatInVec
{
private:
float mData;
float mData;
public:
// Default constructor; does no initialization
//
inline floatInVec( ) { };
// Default constructor; does no initialization
//
inline floatInVec(){};
// Construct from a value converted from bool
//
inline floatInVec(boolInVec vec);
// Construct from a value converted from bool
//
inline floatInVec(boolInVec vec);
// Explicit cast from float
//
explicit inline floatInVec(float scalar);
// Explicit cast from float
//
explicit inline floatInVec(float scalar);
// Explicit cast to float
//
inline float getAsFloat() const;
// Explicit cast to float
//
inline float getAsFloat() const;
#ifndef _VECTORMATH_NO_SCALAR_CAST
// Implicit cast to float
//
inline operator float() const;
// Implicit cast to float
//
inline operator float() const;
#endif
// Post increment (add 1.0f)
//
inline const floatInVec operator ++ (int);
// Post increment (add 1.0f)
//
inline const floatInVec operator++(int);
// Post decrement (subtract 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 increment (add 1.0f)
//
inline floatInVec& operator++();
// Pre decrement (subtract 1.0f)
//
inline floatInVec& operator -- ();
// Pre decrement (subtract 1.0f)
//
inline floatInVec& operator--();
// Negation operator
//
inline const floatInVec operator - () const;
// Negation operator
//
inline const floatInVec operator-() const;
// Assignment operator
//
inline floatInVec& operator = (floatInVec vec);
// Assignment operator
//
inline floatInVec& operator=(floatInVec vec);
// Multiplication assignment operator
//
inline floatInVec& operator *= (floatInVec vec);
// Multiplication assignment operator
//
inline floatInVec& operator*=(floatInVec vec);
// Division 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);
// 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);
inline const floatInVec operator*(floatInVec vec0, floatInVec vec1);
// Division operator
//
inline const floatInVec operator / (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator/(floatInVec vec0, floatInVec vec1);
// Addition operator
//
inline const floatInVec operator + (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator+(floatInVec vec0, floatInVec vec1);
// Subtraction operator
//
inline const floatInVec operator - (floatInVec vec0, floatInVec vec1);
inline const floatInVec operator-(floatInVec vec0, floatInVec vec1);
// Less than operator
//
inline const boolInVec operator < (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator<(floatInVec vec0, floatInVec vec1);
// Less than or equal operator
//
inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator<=(floatInVec vec0, floatInVec vec1);
// Greater than operator
//
inline const boolInVec operator > (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator>(floatInVec vec0, floatInVec vec1);
// Greater than or equal operator
//
inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator>=(floatInVec vec0, floatInVec vec1);
// Equal operator
//
inline const boolInVec operator == (floatInVec vec0, floatInVec vec1);
inline const boolInVec operator==(floatInVec vec0, floatInVec vec1);
// Not equal operator
//
inline const boolInVec operator != (floatInVec vec0, floatInVec vec1);
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// floatInVec implementation
@@ -151,193 +148,168 @@ inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec selec
#include "boolInVec.h"
namespace Vectormath {
inline
floatInVec::floatInVec(boolInVec vec)
namespace Vectormath
{
mData = float(vec.getAsBool());
inline floatInVec::floatInVec(boolInVec vec)
{
mData = float(vec.getAsBool());
}
inline
floatInVec::floatInVec(float scalar)
inline floatInVec::floatInVec(float scalar)
{
mData = scalar;
mData = scalar;
}
inline
float
inline float
floatInVec::getAsFloat() const
{
return mData;
return mData;
}
#ifndef _VECTORMATH_NO_SCALAR_CAST
inline
floatInVec::operator float() const
inline floatInVec::operator float() const
{
return getAsFloat();
return getAsFloat();
}
#endif
inline
const floatInVec
floatInVec::operator ++ (int)
inline const floatInVec
floatInVec::operator++(int)
{
float olddata = mData;
operator ++();
return floatInVec(olddata);
float olddata = mData;
operator++();
return floatInVec(olddata);
}
inline
const floatInVec
floatInVec::operator -- (int)
inline const floatInVec
floatInVec::operator--(int)
{
float olddata = mData;
operator --();
return floatInVec(olddata);
float olddata = mData;
operator--();
return floatInVec(olddata);
}
inline
floatInVec&
floatInVec::operator ++ ()
inline floatInVec&
floatInVec::operator++()
{
*this += floatInVec(1.0f);
return *this;
*this += floatInVec(1.0f);
return *this;
}
inline
floatInVec&
floatInVec::operator -- ()
inline floatInVec&
floatInVec::operator--()
{
*this -= floatInVec(1.0f);
return *this;
*this -= floatInVec(1.0f);
return *this;
}
inline
const floatInVec
floatInVec::operator - () const
inline const floatInVec
floatInVec::operator-() const
{
return floatInVec(-mData);
return floatInVec(-mData);
}
inline
floatInVec&
floatInVec::operator = (floatInVec vec)
inline floatInVec&
floatInVec::operator=(floatInVec vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
floatInVec&
floatInVec::operator *= (floatInVec vec)
inline floatInVec&
floatInVec::operator*=(floatInVec vec)
{
*this = *this * vec;
return *this;
*this = *this * vec;
return *this;
}
inline
floatInVec&
floatInVec::operator /= (floatInVec vec)
inline floatInVec&
floatInVec::operator/=(floatInVec vec)
{
*this = *this / vec;
return *this;
*this = *this / vec;
return *this;
}
inline
floatInVec&
floatInVec::operator += (floatInVec vec)
inline floatInVec&
floatInVec::operator+=(floatInVec vec)
{
*this = *this + vec;
return *this;
*this = *this + vec;
return *this;
}
inline
floatInVec&
floatInVec::operator -= (floatInVec vec)
inline floatInVec&
floatInVec::operator-=(floatInVec vec)
{
*this = *this - vec;
return *this;
*this = *this - vec;
return *this;
}
inline
const floatInVec
operator * (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator*(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() * vec1.getAsFloat());
}
inline
const floatInVec
operator / (floatInVec num, floatInVec den)
inline const floatInVec
operator/(floatInVec num, floatInVec den)
{
return floatInVec(num.getAsFloat() / den.getAsFloat());
return floatInVec(num.getAsFloat() / den.getAsFloat());
}
inline
const floatInVec
operator + (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator+(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() + vec1.getAsFloat());
}
inline
const floatInVec
operator - (floatInVec vec0, floatInVec vec1)
inline const floatInVec
operator-(floatInVec vec0, floatInVec vec1)
{
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
return floatInVec(vec0.getAsFloat() - vec1.getAsFloat());
}
inline
const boolInVec
operator < (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator<(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() < vec1.getAsFloat());
}
inline
const boolInVec
operator <= (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator<=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 > vec1);
return !(vec0 > vec1);
}
inline
const boolInVec
operator > (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator>(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() > vec1.getAsFloat());
}
inline
const boolInVec
operator >= (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator>=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 < vec1);
return !(vec0 < vec1);
}
inline
const boolInVec
operator == (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator==(floatInVec vec0, floatInVec vec1)
{
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
return boolInVec(vec0.getAsFloat() == vec1.getAsFloat());
}
inline
const boolInVec
operator != (floatInVec vec0, floatInVec vec1)
inline const boolInVec
operator!=(floatInVec vec0, floatInVec vec1)
{
return !(vec0 == vec1);
return !(vec0 == vec1);
}
inline
const floatInVec
inline const floatInVec
select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1)
{
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
return (select_vec1.getAsBool() == 0) ? vec0 : vec1;
}
} // namespace Vectormath
} // namespace Vectormath
#endif // floatInVec_h
#endif // floatInVec_h

2082
test/Bullet2/vectormath/scalar/mat_aos.h
View File

File diff suppressed because it is too large Load Diff

486
test/Bullet2/vectormath/scalar/quat_aos.h
View File

@@ -25,409 +25,407 @@ subject to the following restrictions:
#endif
namespace Vectormath {
namespace Aos {
inline Quat::Quat( const Quat & quat )
namespace Vectormath
{
mX = quat.mX;
mY = quat.mY;
mZ = quat.mZ;
mW = quat.mW;
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 )
inline Quat::Quat(float _x, float _y, float _z, float _w)
{
mX = _x;
mY = _y;
mZ = _z;
mW = _w;
mX = _x;
mY = _y;
mZ = _z;
mW = _w;
}
inline Quat::Quat( const Vector3 & xyz, float _w )
inline Quat::Quat(const Vector3 &xyz, float _w)
{
this->setXYZ( xyz );
this->setW( _w );
this->setXYZ(xyz);
this->setW(_w);
}
inline Quat::Quat( const Vector4 & vec )
inline Quat::Quat(const Vector4 &vec)
{
mX = vec.getX();
mY = vec.getY();
mZ = vec.getZ();
mW = vec.getW();
mX = vec.getX();
mY = vec.getY();
mZ = vec.getZ();
mW = vec.getW();
}
inline Quat::Quat( float scalar )
inline Quat::Quat(float scalar)
{
mX = scalar;
mY = scalar;
mZ = scalar;
mW = scalar;
mX = scalar;
mY = scalar;
mZ = scalar;
mW = scalar;
}
inline const Quat Quat::identity( )
inline const Quat Quat::identity()
{
return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
return Quat(0.0f, 0.0f, 0.0f, 1.0f);
}
inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
inline const Quat lerp(float t, const Quat &quat0, const Quat &quat1)
{
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
return (quat0 + ((quat1 - quat0) * t));
}
inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
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 ) );
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 )
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 );
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 )
inline void loadXYZW(Quat &quat, const float *fptr)
{
quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
quat = Quat(fptr[0], fptr[1], fptr[2], fptr[3]);
}
inline void storeXYZW( const Quat & quat, float * fptr )
inline void storeXYZW(const Quat &quat, float *fptr)
{
fptr[0] = quat.getX();
fptr[1] = quat.getY();
fptr[2] = quat.getZ();
fptr[3] = quat.getW();
fptr[0] = quat.getX();
fptr[1] = quat.getY();
fptr[2] = quat.getZ();
fptr[3] = quat.getW();
}
inline Quat & Quat::operator =( const Quat & quat )
inline Quat &Quat::operator=(const Quat &quat)
{
mX = quat.mX;
mY = quat.mY;
mZ = quat.mZ;
mW = quat.mW;
return *this;
mX = quat.mX;
mY = quat.mY;
mZ = quat.mZ;
mW = quat.mW;
return *this;
}
inline Quat & Quat::setXYZ( const Vector3 & vec )
inline Quat &Quat::setXYZ(const Vector3 &vec)
{
mX = vec.getX();
mY = vec.getY();
mZ = vec.getZ();
return *this;
mX = vec.getX();
mY = vec.getY();
mZ = vec.getZ();
return *this;
}
inline const Vector3 Quat::getXYZ( ) const
inline const Vector3 Quat::getXYZ() const
{
return Vector3( mX, mY, mZ );
return Vector3(mX, mY, mZ);
}
inline Quat & Quat::setX( float _x )
inline Quat &Quat::setX(float _x)
{
mX = _x;
return *this;
mX = _x;
return *this;
}
inline float Quat::getX( ) const
inline float Quat::getX() const
{
return mX;
return mX;
}
inline Quat & Quat::setY( float _y )
inline Quat &Quat::setY(float _y)
{
mY = _y;
return *this;
mY = _y;
return *this;
}
inline float Quat::getY( ) const
inline float Quat::getY() const
{
return mY;
return mY;
}
inline Quat & Quat::setZ( float _z )
inline Quat &Quat::setZ(float _z)
{
mZ = _z;
return *this;
mZ = _z;
return *this;
}
inline float Quat::getZ( ) const
inline float Quat::getZ() const
{
return mZ;
return mZ;
}
inline Quat & Quat::setW( float _w )
inline Quat &Quat::setW(float _w)
{
mW = _w;
return *this;
mW = _w;
return *this;
}
inline float Quat::getW( ) const
inline float Quat::getW() const
{
return mW;
return mW;
}
inline Quat & Quat::setElem( int idx, float value )
inline Quat &Quat::setElem(int idx, float value)
{
*(&mX + idx) = value;
return *this;
*(&mX + idx) = value;
return *this;
}
inline float Quat::getElem( int idx ) const
inline float Quat::getElem(int idx) const
{
return *(&mX + idx);
return *(&mX + idx);
}
inline float & Quat::operator []( int idx )
inline float &Quat::operator[](int idx)
{
return *(&mX + idx);
return *(&mX + idx);
}
inline float Quat::operator []( int idx ) const
inline float Quat::operator[](int idx) const
{
return *(&mX + idx);
return *(&mX + idx);
}
inline const Quat Quat::operator +( const Quat & quat ) const
inline const Quat Quat::operator+(const Quat &quat) const
{
return Quat(
( mX + quat.mX ),
( mY + quat.mY ),
( mZ + quat.mZ ),
( mW + quat.mW )
);
return Quat(
(mX + quat.mX),
(mY + quat.mY),
(mZ + quat.mZ),
(mW + quat.mW));
}
inline const Quat Quat::operator -( const Quat & quat ) const
inline const Quat Quat::operator-(const Quat &quat) const
{
return Quat(
( mX - quat.mX ),
( mY - quat.mY ),
( mZ - quat.mZ ),
( mW - quat.mW )
);
return Quat(
(mX - quat.mX),
(mY - quat.mY),
(mZ - quat.mZ),
(mW - quat.mW));
}
inline const Quat Quat::operator *( float scalar ) const
inline const Quat Quat::operator*(float scalar) const
{
return Quat(
( mX * scalar ),
( mY * scalar ),
( mZ * scalar ),
( mW * scalar )
);
return Quat(
(mX * scalar),
(mY * scalar),
(mZ * scalar),
(mW * scalar));
}
inline Quat & Quat::operator +=( const Quat & quat )
inline Quat &Quat::operator+=(const Quat &quat)
{
*this = *this + quat;
return *this;
*this = *this + quat;
return *this;
}
inline Quat & Quat::operator -=( const Quat & quat )
inline Quat &Quat::operator-=(const Quat &quat)
{
*this = *this - quat;
return *this;
*this = *this - quat;
return *this;
}
inline Quat & Quat::operator *=( float scalar )
inline Quat &Quat::operator*=(float scalar)
{
*this = *this * scalar;
return *this;
*this = *this * scalar;
return *this;
}
inline const Quat Quat::operator /( float scalar ) const
inline const Quat Quat::operator/(float scalar) const
{
return Quat(
( mX / scalar ),
( mY / scalar ),
( mZ / scalar ),
( mW / scalar )
);
return Quat(
(mX / scalar),
(mY / scalar),
(mZ / scalar),
(mW / scalar));
}
inline Quat & Quat::operator /=( float scalar )
inline Quat &Quat::operator/=(float scalar)
{
*this = *this / scalar;
return *this;
*this = *this / scalar;
return *this;
}
inline const Quat Quat::operator -( ) const
inline const Quat Quat::operator-() const
{
return Quat(
-mX,
-mY,
-mZ,
-mW
);
return Quat(
-mX,
-mY,
-mZ,
-mW);
}
inline const Quat operator *( float scalar, const Quat & quat )
inline const Quat operator*(float scalar, const Quat &quat)
{
return quat * scalar;
return quat * scalar;
}
inline float dot( const Quat & quat0, const Quat & quat1 )
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;
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 )
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;
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 )
inline float length(const Quat &quat)
{
return ::sqrtf( norm( quat ) );
return ::sqrtf(norm(quat));
}
inline const Quat normalize( const Quat & 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 )
);
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 )
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 ) );
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 )
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 );
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 )
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 );
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 )
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 );
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 )
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 );
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
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 ) )
);
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 )
inline Quat &Quat::operator*=(const Quat &quat)
{
*this = *this * quat;
return *this;
*this = *this * quat;
return *this;
}
inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
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() ) )
);
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 )
inline const Quat conj(const Quat &quat)
{
return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
return Quat(-quat.getX(), -quat.getY(), -quat.getZ(), quat.getW());
}
inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
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()
);
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 )
inline void print(const Quat &quat)
{
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
printf("( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW());
}
inline void print( const Quat & quat, const char * name )
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() );
printf("%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW());
}
#endif
} // namespace Aos
} // namespace Vectormath
} // namespace Aos
} // namespace Vectormath
#endif

1733
test/Bullet2/vectormath/scalar/vec_aos.h
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2295
test/Bullet2/vectormath/scalar/vectormath_aos.h
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214
test/Bullet2/vectormath/sse/boolInVec.h
View File

@@ -32,8 +32,8 @@
#include <math.h>
namespace Vectormath {
namespace Vectormath
{
class floatInVec;
//--------------------------------------------------------------------------------------------------
@@ -42,58 +42,59 @@ class floatInVec;
class boolInVec
{
private:
__m128 mData;
private:
__m128 mData;
inline boolInVec(__m128 vec);
public:
inline boolInVec() {}
inline boolInVec(__m128 vec);
// matches standard type conversions
//
inline boolInVec(const floatInVec &vec);
public:
inline boolInVec() {}
// explicit cast from bool
//
explicit inline boolInVec(bool scalar);
// 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;
// explicit cast to bool
//
inline bool getAsBool() const;
#else
// implicit cast to bool
//
inline operator bool() const;
// 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);
// get vector data
// bool value is splatted across all word slots of vector as 0 (false) or -1 (true)
//
inline __m128 get128() const;
// 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);
// 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);
};
//--------------------------------------------------------------------------------------------------
@@ -102,18 +103,18 @@ class boolInVec
// 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);
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// boolInVec implementation
@@ -121,127 +122,110 @@ inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, cons
#include "floatInVec.h"
namespace Vectormath {
inline
boolInVec::boolInVec(__m128 vec)
namespace Vectormath
{
mData = vec;
inline boolInVec::boolInVec(__m128 vec)
{
mData = vec;
}
inline
boolInVec::boolInVec(const floatInVec &vec)
inline boolInVec::boolInVec(const floatInVec &vec)
{
*this = (vec != floatInVec(0.0f));
*this = (vec != floatInVec(0.0f));
}
inline
boolInVec::boolInVec(bool scalar)
inline boolInVec::boolInVec(bool scalar)
{
unsigned int mask = -(int)scalar;
mData = _mm_set1_ps(*(float *)&mask); // TODO: Union
unsigned int mask = -(int)scalar;
mData = _mm_set1_ps(*(float *)&mask); // TODO: Union
}
#ifdef _VECTORMATH_NO_SCALAR_CAST
inline
bool
inline bool
boolInVec::getAsBool() const
#else
inline
boolInVec::operator bool() const
inline boolInVec::operator bool() const
#endif
{
return *(bool *)&mData;
}
inline
__m128
inline __m128
boolInVec::get128() const
{
return mData;
return mData;
}
inline
const boolInVec
boolInVec::operator ! () const
inline const boolInVec
boolInVec::operator!() const
{
return boolInVec(_mm_andnot_ps(mData, _mm_cmpneq_ps(_mm_setzero_ps(),_mm_setzero_ps())));
return boolInVec(_mm_andnot_ps(mData, _mm_cmpneq_ps(_mm_setzero_ps(), _mm_setzero_ps())));
}
inline
boolInVec&
boolInVec::operator = (const boolInVec &vec)
inline boolInVec &
boolInVec::operator=(const boolInVec &vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
boolInVec&
boolInVec::operator &= (const boolInVec &vec)
inline boolInVec &
boolInVec::operator&=(const boolInVec &vec)
{
*this = *this & vec;
return *this;
*this = *this & vec;
return *this;
}
inline
boolInVec&
boolInVec::operator ^= (const boolInVec &vec)
inline boolInVec &
boolInVec::operator^=(const boolInVec &vec)
{
*this = *this ^ vec;
return *this;
*this = *this ^ vec;
return *this;
}
inline
boolInVec&
boolInVec::operator |= (const boolInVec &vec)
inline boolInVec &
boolInVec::operator|=(const boolInVec &vec)
{
*this = *this | vec;
return *this;
*this = *this | vec;
return *this;
}
inline
const boolInVec
operator == (const boolInVec &vec0, const boolInVec &vec1)
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)
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)
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)
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)
inline const boolInVec
operator^(const boolInVec &vec0, const boolInVec &vec1)
{
return boolInVec(_mm_xor_ps(vec0.get128(), vec1.get128()));
}
inline
const boolInVec
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
} // namespace Vectormath
#endif // boolInVec_h

320
test/Bullet2/vectormath/sse/floatInVec.h
View File

@@ -33,8 +33,8 @@
#include <math.h>
#include <xmmintrin.h>
namespace Vectormath {
namespace Vectormath
{
class boolInVec;
//--------------------------------------------------------------------------------------------------
@@ -43,61 +43,61 @@ class boolInVec;
class floatInVec
{
private:
__m128 mData;
private:
__m128 mData;
public:
inline floatInVec(__m128 vec);
public:
inline floatInVec(__m128 vec);
inline floatInVec() {}
inline floatInVec() {}
// matches standard type conversions
//
inline floatInVec(const boolInVec &vec);
// 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);
// 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;
// explicit cast to float
//
inline float getAsFloat() const;
#else
// implicit cast to float
//
inline operator float() const;
// 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;
// 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);
// 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);
// 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);
};
//--------------------------------------------------------------------------------------------------
@@ -105,24 +105,24 @@ class floatInVec
//
// 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);
//
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
} // namespace Vectormath
//--------------------------------------------------------------------------------------------------
// floatInVec implementation
@@ -130,211 +130,183 @@ inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, c
#include "boolInVec.h"
namespace Vectormath {
inline
floatInVec::floatInVec(__m128 vec)
namespace Vectormath
{
mData = vec;
inline floatInVec::floatInVec(__m128 vec)
{
mData = vec;
}
inline
floatInVec::floatInVec(const boolInVec &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)
inline floatInVec::floatInVec(__m128 vec, int slot)
{
SSEFloat v;
v.m128 = vec;
mData = _mm_set1_ps(v.f[slot]);
}
inline
floatInVec::floatInVec(float scalar)
inline floatInVec::floatInVec(float scalar)
{
mData = _mm_set1_ps(scalar);
}
#ifdef _VECTORMATH_NO_SCALAR_CAST
inline
float
inline float
floatInVec::getAsFloat() const
#else
inline
floatInVec::operator float() const
inline floatInVec::operator float() const
#endif
{
return *((float *)&mData);
return *((float *)&mData);
}
inline
__m128
inline __m128
floatInVec::get128() const
{
return mData;
return mData;
}
inline
const floatInVec
floatInVec::operator ++ (int)
inline const floatInVec
floatInVec::operator++(int)
{
__m128 olddata = mData;
operator ++();
return floatInVec(olddata);
__m128 olddata = mData;
operator++();
return floatInVec(olddata);
}
inline
const floatInVec
floatInVec::operator -- (int)
inline const floatInVec
floatInVec::operator--(int)
{
__m128 olddata = mData;
operator --();
return floatInVec(olddata);
__m128 olddata = mData;
operator--();
return floatInVec(olddata);
}
inline
floatInVec&
floatInVec::operator ++ ()
inline floatInVec &
floatInVec::operator++()
{
*this += floatInVec(_mm_set1_ps(1.0f));
return *this;
*this += floatInVec(_mm_set1_ps(1.0f));
return *this;
}
inline
floatInVec&
floatInVec::operator -- ()
inline floatInVec &
floatInVec::operator--()
{
*this -= floatInVec(_mm_set1_ps(1.0f));
return *this;
*this -= floatInVec(_mm_set1_ps(1.0f));
return *this;
}
inline
const floatInVec
floatInVec::operator - () const
inline const floatInVec
floatInVec::operator-() const
{
return floatInVec(_mm_sub_ps(_mm_setzero_ps(), mData));
return floatInVec(_mm_sub_ps(_mm_setzero_ps(), mData));
}
inline
floatInVec&
floatInVec::operator = (const floatInVec &vec)
inline floatInVec &
floatInVec::operator=(const floatInVec &vec)
{
mData = vec.mData;
return *this;
mData = vec.mData;
return *this;
}
inline
floatInVec&
floatInVec::operator *= (const floatInVec &vec)
inline floatInVec &
floatInVec::operator*=(const floatInVec &vec)
{
*this = *this * vec;
return *this;
*this = *this * vec;
return *this;
}
inline
floatInVec&
floatInVec::operator /= (const floatInVec &vec)
inline floatInVec &
floatInVec::operator/=(const floatInVec &vec)
{
*this = *this / vec;
return *this;
*this = *this / vec;
return *this;
}
inline
floatInVec&
floatInVec::operator += (const floatInVec &vec)
inline floatInVec &
floatInVec::operator+=(const floatInVec &vec)
{
*this = *this + vec;
return *this;
*this = *this + vec;
return *this;
}
inline
floatInVec&
floatInVec::operator -= (const floatInVec &vec)
inline floatInVec &
floatInVec::operator-=(const floatInVec &vec)
{
*this = *this - vec;
return *this;
*this = *this - vec;
return *this;
}
inline
const floatInVec
operator * (const floatInVec &vec0, const floatInVec &vec1)
inline const floatInVec
operator*(const floatInVec &vec0, const floatInVec &vec1)
{
return floatInVec(_mm_mul_ps(vec0.get128(), vec1.get128()));
return floatInVec(_mm_mul_ps(vec0.get128(), vec1.get128()));
}
inline
const floatInVec
operator / (const floatInVec &num, const floatInVec &den)
inline const floatInVec
operator/(const floatInVec &num, const floatInVec &den)
{
return floatInVec(_mm_div_ps(num.get128(), den.get128()));
return floatInVec(_mm_div_ps(num.get128(), den.get128()));
}
inline
const floatInVec
operator + (const floatInVec &vec0, const floatInVec &vec1)
inline const floatInVec
operator+(const floatInVec &vec0, const floatInVec &vec1)
{
return floatInVec(_mm_add_ps(vec0.get128(), vec1.get128()));
return floatInVec(_mm_add_ps(vec0.get128(), vec1.get128()));
}
inline
const floatInVec
operator - (const floatInVec &vec0, const floatInVec &vec1)
inline const floatInVec
operator-(const floatInVec &vec0, const floatInVec &vec1)
{
return floatInVec(_mm_sub_ps(vec0.get128(), vec1.get128()));
return floatInVec(_mm_sub_ps(vec0.get128(), vec1.get128()));
}
inline
const boolInVec
operator < (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator<(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpgt_ps(vec1.get128(), vec0.get128()));
return boolInVec(_mm_cmpgt_ps(vec1.get128(), vec0.get128()));
}
inline
const boolInVec
operator <= (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator<=(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpge_ps(vec1.get128(), vec0.get128()));
return boolInVec(_mm_cmpge_ps(vec1.get128(), vec0.get128()));
}
inline
const boolInVec
operator > (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator>(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpgt_ps(vec0.get128(), vec1.get128()));
return boolInVec(_mm_cmpgt_ps(vec0.get128(), vec1.get128()));
}
inline
const boolInVec
operator >= (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator>=(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpge_ps(vec0.get128(), vec1.get128()));
return boolInVec(_mm_cmpge_ps(vec0.get128(), vec1.get128()));
}
inline
const boolInVec
operator == (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator==(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128()));
return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128()));
}
inline
const boolInVec
operator != (const floatInVec &vec0, const floatInVec &vec1)
inline const boolInVec
operator!=(const floatInVec &vec0, const floatInVec &vec1)
{
return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128()));
return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128()));
}
inline
const floatInVec
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()));
return floatInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128()));
}
} // namespace Vectormath
} // namespace Vectormath
#endif // floatInVec_h
#endif // floatInVec_h

2735
test/Bullet2/vectormath/sse/mat_aos.h
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File diff suppressed because it is too large Load Diff

555
test/Bullet2/vectormath/sse/quat_aos.h
View File

@@ -27,7 +27,6 @@
POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef _VECTORMATH_QUAT_AOS_CPP_H
#define _VECTORMATH_QUAT_AOS_CPP_H
@@ -39,488 +38,482 @@
#endif
namespace Vectormath {
namespace Aos {
namespace Vectormath
{
namespace Aos
{
VECTORMATH_FORCE_INLINE void Quat::set128(vec_float4 vec)
{
mVec128 = vec;
mVec128 = vec;
}
VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w )
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() ) );
_mm_unpacklo_ps(_x.get128(), _z.get128()),
_mm_unpacklo_ps(_y.get128(), _w.get128()));
}
VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, float _w )
VECTORMATH_FORCE_INLINE Quat::Quat(const Vector3 &xyz, float _w)
{
mVec128 = xyz.get128();
_vmathVfSetElement(mVec128, _w, 3);
mVec128 = xyz.get128();
_vmathVfSetElement(mVec128, _w, 3);
}
VECTORMATH_FORCE_INLINE Quat::Quat(const Quat& quat)
VECTORMATH_FORCE_INLINE Quat::Quat(const Quat &quat)
{
mVec128 = quat.get128();
}
VECTORMATH_FORCE_INLINE Quat::Quat( float _x, float _y, float _z, float _w )
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 )
VECTORMATH_FORCE_INLINE Quat::Quat(const Vector3 &xyz, const floatInVec &_w)
{
mVec128 = xyz.get128();
mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
mVec128 = xyz.get128();
mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
}
VECTORMATH_FORCE_INLINE Quat::Quat( const Vector4 &vec )
VECTORMATH_FORCE_INLINE Quat::Quat(const Vector4 &vec)
{
mVec128 = vec.get128();
mVec128 = vec.get128();
}
VECTORMATH_FORCE_INLINE Quat::Quat( float scalar )
VECTORMATH_FORCE_INLINE Quat::Quat(float scalar)
{
mVec128 = floatInVec(scalar).get128();
mVec128 = floatInVec(scalar).get128();
}
VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &scalar )
VECTORMATH_FORCE_INLINE Quat::Quat(const floatInVec &scalar)
{
mVec128 = scalar.get128();
mVec128 = scalar.get128();
}
VECTORMATH_FORCE_INLINE Quat::Quat( __m128 vf4 )
VECTORMATH_FORCE_INLINE Quat::Quat(__m128 vf4)
{
mVec128 = vf4;
mVec128 = vf4;
}
VECTORMATH_FORCE_INLINE const Quat Quat::identity( )
VECTORMATH_FORCE_INLINE const Quat Quat::identity()
{
return Quat( _VECTORMATH_UNIT_0001 );
return Quat(_VECTORMATH_UNIT_0001);
}
VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 )
VECTORMATH_FORCE_INLINE const Quat lerp(float t, const Quat &quat0, const Quat &quat1)
{
return lerp( floatInVec(t), quat0, quat1 );
return lerp(floatInVec(t), quat0, quat1);
}
VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 )
VECTORMATH_FORCE_INLINE const Quat lerp(const floatInVec &t, const Quat &quat0, const Quat &quat1)
{
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
return (quat0 + ((quat1 - quat0) * t));
}
VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 )
VECTORMATH_FORCE_INLINE const Quat slerp(float t, const Quat &unitQuat0, const Quat &unitQuat1)
{
return slerp( floatInVec(t), unitQuat0, unitQuat1 );
return slerp(floatInVec(t), unitQuat0, unitQuat1);
}
VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &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 ) ) );
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 )
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 );
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 )
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 ) );
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
VECTORMATH_FORCE_INLINE __m128 Quat::get128() const
{
return mVec128;
return mVec128;
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat )
VECTORMATH_FORCE_INLINE Quat &Quat::operator=(const Quat &quat)
{
mVec128 = quat.mVec128;
return *this;
mVec128 = quat.mVec128;
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setXYZ( const Vector3 &vec )
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;
mVec128 = vec_sel(vec.get128(), mVec128, sw);
return *this;
}
VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ( ) const
VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ() const
{
return Vector3( mVec128 );
return Vector3(mVec128);
}
VECTORMATH_FORCE_INLINE Quat & Quat::setX( float _x )
VECTORMATH_FORCE_INLINE Quat &Quat::setX(float _x)
{
_vmathVfSetElement(mVec128, _x, 0);
return *this;
_vmathVfSetElement(mVec128, _x, 0);
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setX( const floatInVec &_x )
VECTORMATH_FORCE_INLINE Quat &Quat::setX(const floatInVec &_x)
{
mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
return *this;
mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
return *this;
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::getX( ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::getX() const
{
return floatInVec( mVec128, 0 );
return floatInVec(mVec128, 0);
}
VECTORMATH_FORCE_INLINE Quat & Quat::setY( float _y )
VECTORMATH_FORCE_INLINE Quat &Quat::setY(float _y)
{
_vmathVfSetElement(mVec128, _y, 1);
return *this;
_vmathVfSetElement(mVec128, _y, 1);
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setY( const floatInVec &_y )
VECTORMATH_FORCE_INLINE Quat &Quat::setY(const floatInVec &_y)
{
mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
return *this;
mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
return *this;
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::getY( ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::getY() const
{
return floatInVec( mVec128, 1 );
return floatInVec(mVec128, 1);
}
VECTORMATH_FORCE_INLINE Quat & Quat::setZ( float _z )
VECTORMATH_FORCE_INLINE Quat &Quat::setZ(float _z)
{
_vmathVfSetElement(mVec128, _z, 2);
return *this;
_vmathVfSetElement(mVec128, _z, 2);
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setZ( const floatInVec &_z )
VECTORMATH_FORCE_INLINE Quat &Quat::setZ(const floatInVec &_z)
{
mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
return *this;
mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
return *this;
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ( ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ() const
{
return floatInVec( mVec128, 2 );
return floatInVec(mVec128, 2);
}
VECTORMATH_FORCE_INLINE Quat & Quat::setW( float _w )
VECTORMATH_FORCE_INLINE Quat &Quat::setW(float _w)
{
_vmathVfSetElement(mVec128, _w, 3);
return *this;
_vmathVfSetElement(mVec128, _w, 3);
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setW( const floatInVec &_w )
VECTORMATH_FORCE_INLINE Quat &Quat::setW(const floatInVec &_w)
{
mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
return *this;
mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
return *this;
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::getW( ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::getW() const
{
return floatInVec( mVec128, 3 );
return floatInVec(mVec128, 3);
}
VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, float value )
VECTORMATH_FORCE_INLINE Quat &Quat::setElem(int idx, float value)
{
_vmathVfSetElement(mVec128, value, idx);
return *this;
_vmathVfSetElement(mVec128, value, idx);
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, const floatInVec &value )
VECTORMATH_FORCE_INLINE Quat &Quat::setElem(int idx, const floatInVec &value)
{
mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
return *this;
mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
return *this;
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem( int idx ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem(int idx) const
{
return floatInVec( mVec128, idx );
return floatInVec(mVec128, idx);
}
VECTORMATH_FORCE_INLINE VecIdx Quat::operator []( int idx )
VECTORMATH_FORCE_INLINE VecIdx Quat::operator[](int idx)
{
return VecIdx( mVec128, idx );
return VecIdx(mVec128, idx);
}
VECTORMATH_FORCE_INLINE const floatInVec Quat::operator []( int idx ) const
VECTORMATH_FORCE_INLINE const floatInVec Quat::operator[](int idx) const
{
return floatInVec( mVec128, idx );
return floatInVec(mVec128, idx);
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator +( const Quat &quat ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator+(const Quat &quat) const
{
return Quat( _mm_add_ps( mVec128, quat.mVec128 ) );
return Quat(_mm_add_ps(mVec128, quat.mVec128));
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator -( const Quat &quat ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator-(const Quat &quat) const
{
return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) );
return Quat(_mm_sub_ps(mVec128, quat.mVec128));
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator *( float scalar ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator*(float scalar) const
{
return *this * floatInVec(scalar);
return *this * floatInVec(scalar);
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const floatInVec &scalar ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator*(const floatInVec &scalar) const
{
return Quat( _mm_mul_ps( mVec128, scalar.get128() ) );
return Quat(_mm_mul_ps(mVec128, scalar.get128()));
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat )
VECTORMATH_FORCE_INLINE Quat &Quat::operator+=(const Quat &quat)
{
*this = *this + quat;
return *this;
*this = *this + quat;
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat )
VECTORMATH_FORCE_INLINE Quat &Quat::operator-=(const Quat &quat)
{
*this = *this - quat;
return *this;
*this = *this - quat;
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( float scalar )
VECTORMATH_FORCE_INLINE Quat &Quat::operator*=(float scalar)
{
*this = *this * scalar;
return *this;
*this = *this * scalar;
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const floatInVec &scalar )
VECTORMATH_FORCE_INLINE Quat &Quat::operator*=(const floatInVec &scalar)
{
*this = *this * scalar;
return *this;
*this = *this * scalar;
return *this;
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator /( float scalar ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator/(float scalar) const
{
return *this / floatInVec(scalar);
return *this / floatInVec(scalar);
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator /( const floatInVec &scalar ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator/(const floatInVec &scalar) const
{
return Quat( _mm_div_ps( mVec128, scalar.get128() ) );
return Quat(_mm_div_ps(mVec128, scalar.get128()));
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( float scalar )
VECTORMATH_FORCE_INLINE Quat &Quat::operator/=(float scalar)
{
*this = *this / scalar;
return *this;
*this = *this / scalar;
return *this;
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( const floatInVec &scalar )
VECTORMATH_FORCE_INLINE Quat &Quat::operator/=(const floatInVec &scalar)
{
*this = *this / scalar;
return *this;
*this = *this / scalar;
return *this;
}
VECTORMATH_FORCE_INLINE const Quat Quat::operator -( ) const
VECTORMATH_FORCE_INLINE const Quat Quat::operator-() const
{
return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );
return Quat(_mm_sub_ps(_mm_setzero_ps(), mVec128));
}
VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat )
VECTORMATH_FORCE_INLINE const Quat operator*(float scalar, const Quat &quat)
{
return floatInVec(scalar) * quat;
return floatInVec(scalar) * quat;
}
VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat )
VECTORMATH_FORCE_INLINE const Quat operator*(const floatInVec &scalar, const Quat &quat)
{
return quat * scalar;
return quat * scalar;
}
VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 )
VECTORMATH_FORCE_INLINE const floatInVec dot(const Quat &quat0, const Quat &quat1)
{
return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
return floatInVec(_vmathVfDot4(quat0.get128(), quat1.get128()), 0);
}
VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat )
VECTORMATH_FORCE_INLINE const floatInVec norm(const Quat &quat)
{
return floatInVec( _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
return floatInVec(_vmathVfDot4(quat.get128(), quat.get128()), 0);
}
VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat )
VECTORMATH_FORCE_INLINE const floatInVec length(const Quat &quat)
{
return floatInVec( _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 );
return floatInVec(_mm_sqrt_ps(_vmathVfDot4(quat.get128(), quat.get128())), 0);
}
VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat )
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 ) ) );
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 )
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 );
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 );
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 )
VECTORMATH_FORCE_INLINE const Quat Quat::rotation(float radians, const Vector3 &unitVec)
{
return rotation( floatInVec(radians), unitVec );
return rotation(floatInVec(radians), unitVec);
}
VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &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 );
__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 );
res = vec_sel(vec_mul(unitVec.get128(), s), c, sw);
return Quat(res);
}
VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians )
VECTORMATH_FORCE_INLINE const Quat Quat::rotationX(float radians)
{
return rotationX( floatInVec(radians) );
return rotationX(floatInVec(radians));
}
VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const 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 );
__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 );
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 )
VECTORMATH_FORCE_INLINE const Quat Quat::rotationY(float radians)
{
return rotationY( floatInVec(radians) );
return rotationY(floatInVec(radians));
}
VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const 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 );
__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 );
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 )
VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ(float radians)
{
return rotationZ( floatInVec(radians) );
return rotationZ(floatInVec(radians));
}
VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const 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 );
__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 );
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
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 ) );
__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 ) );
return Quat(vec_sel(qv, qw, sw));
}
VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat )
VECTORMATH_FORCE_INLINE Quat &Quat::operator*=(const Quat &quat)
{
*this = *this * quat;
return *this;
*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 )
VECTORMATH_FORCE_INLINE const Vector3 rotate(const Quat &quat, const Vector3 &vec)
{
VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0};
return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) );
__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 select( const Quat &quat0, const Quat &quat1, bool select1 )
VECTORMATH_FORCE_INLINE const Quat conj(const Quat &quat)
{
return select( quat0, quat1, boolInVec(select1) );
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 )
@@ -528,52 +521,54 @@ VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1,
// return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) );
//}
VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr)
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 );
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);
quat = Quat(fl.m128);
#endif
}
VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr)
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);
// _mm_storeu_ps((float*)quat.get128(),fptr);
}
#ifdef _VECTORMATH_DEBUG
VECTORMATH_FORCE_INLINE void print( const Quat &quat )
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] );
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 )
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] );
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
} // namespace Aos
} // namespace Vectormath
#endif

1210
test/Bullet2/vectormath/sse/vec_aos.h
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File diff suppressed because it is too large Load Diff

64
test/Bullet2/vectormath/sse/vecidx_aos.h
View File

@@ -30,51 +30,53 @@
#ifndef _VECTORMATH_VECIDX_AOS_H
#define _VECTORMATH_VECIDX_AOS_H
#include "floatInVec.h"
namespace Vectormath {
namespace Aos {
namespace Vectormath
{
namespace Aos
{
//-----------------------------------------------------------------------------
// VecIdx
// Used in setting elements of Vector3, Vector4, Point3, or Quat with the
// VecIdx
// Used in setting elements of Vector3, Vector4, Point3, or Quat with the
// subscripting operator.
//
VM_ATTRIBUTE_ALIGNED_CLASS16 (class) VecIdx
VM_ATTRIBUTE_ALIGNED_CLASS16(class)
VecIdx
{
private:
__m128 &ref;
int i;
public:
inline VecIdx( __m128& vec, int idx ): ref(vec) { i = idx; }
__m128 &ref;
int i;
// 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.
//
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;
inline operator floatInVec() const;
inline float getAsFloat() const;
#else
inline operator float() const;
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 );
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
} // namespace Aos
} // namespace Vectormath
#endif

3118
test/Bullet2/vectormath/sse/vectormath_aos.h
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40
test/Bullet2/vectormath/vmInclude.h
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@@ -4,28 +4,24 @@
#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)
#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::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
typedef Vectormath::Aos::Point3 vmPoint3;
#endif //__VM_INCLUDE_H