redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

src/LinearMath/btVector3.h
1 363 строки40 KB
Erwin Coumans
add btVector3::safeNorm to avoid/workaround certain clang/g++ issue or returning -INF
26 сен 2016, 09:13
26 сен 2016, 09:136563c9c
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/



#ifndef BT_VECTOR3_H
#define BT_VECTOR3_H

//#include <stdint.h>
#include "btScalar.h"
#include "btMinMax.h"
#include "btAlignedAllocator.h"

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

#if defined BT_USE_SSE

//typedef  uint32_t __m128i __attribute__ ((vector_size(16)));

#ifdef _MSC_VER
#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
#endif


#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) )
#define bt_splat_ps( _a, _i )  bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) )

#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF))
#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF))
#define btv3AbsfMask btCastiTo128f(btv3AbsiMask)
#define btvFFF0fMask btCastiTo128f(btvFFF0Mask)
#define btvxyzMaskf btvFFF0fMask
#define btvAbsfMask btCastiTo128f(btvAbsMask)

//there is an issue with XCode 3.2 (LCx errors)
#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f))
#define v1110		 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f))
#define vHalf		 (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f))
#define v1_5		 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f))

//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f};
//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f};
//const __m128 ATTRIBUTE_ALIGNED16(v1_5)  = {1.5f, 1.5f, 1.5f, 1.5f};

#endif

#ifdef BT_USE_NEON

const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f};
const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast<int32_t>(0xFFFFFFFF),
	static_cast<int32_t>(0xFFFFFFFF), static_cast<int32_t>(0xFFFFFFFF), 0x0};
const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF};
const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0};

#endif

/**@brief btVector3 can be used to represent 3D points and vectors.
 * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
 * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
 */
ATTRIBUTE_ALIGNED16(class) btVector3
{
public:

	BT_DECLARE_ALIGNED_ALLOCATOR();

#if defined (__SPU__) && defined (__CELLOS_LV2__)
		btScalar	m_floats[4];
public:
	SIMD_FORCE_INLINE const vec_float4&	get128() const
	{
		return *((const vec_float4*)&m_floats[0]);
	}
public:
#else //__CELLOS_LV2__ __SPU__
    #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM
        union {
            btSimdFloat4      mVec128;
            btScalar	m_floats[4];
        };
        SIMD_FORCE_INLINE	btSimdFloat4	get128() const
        {
            return mVec128;
        }
        SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
        {
            mVec128 = v128;
        }
    #else
        btScalar	m_floats[4];
    #endif
#endif //__CELLOS_LV2__ __SPU__

	public:

  /**@brief No initialization constructor */
	SIMD_FORCE_INLINE btVector3() 
	{

	}

 
	
  /**@brief Constructor from scalars 
   * @param x X value
   * @param y Y value 
   * @param z Z value 
   */
	SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z)
	{
		m_floats[0] = _x;
		m_floats[1] = _y;
		m_floats[2] = _z;
		m_floats[3] = btScalar(0.f);
	}

#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON)
	// Set Vector 
	SIMD_FORCE_INLINE btVector3( btSimdFloat4 v)
	{
		mVec128 = v;
	}

	// Copy constructor
	SIMD_FORCE_INLINE btVector3(const btVector3& rhs)
	{
		mVec128 = rhs.mVec128;
	}

	// Assignment Operator
	SIMD_FORCE_INLINE btVector3& 
	operator=(const btVector3& v) 
	{
		mVec128 = v.mVec128;
		
		return *this;
	}
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 
    
/**@brief Add a vector to this one 
 * @param The vector to add to this one */
	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = _mm_add_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
		mVec128 = vaddq_f32(mVec128, v.mVec128);
#else
		m_floats[0] += v.m_floats[0]; 
		m_floats[1] += v.m_floats[1];
		m_floats[2] += v.m_floats[2];
#endif
		return *this;
	}


  /**@brief Subtract a vector from this one
   * @param The vector to subtract */
	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = _mm_sub_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
		mVec128 = vsubq_f32(mVec128, v.mVec128);
#else
		m_floats[0] -= v.m_floats[0]; 
		m_floats[1] -= v.m_floats[1];
		m_floats[2] -= v.m_floats[2];
#endif
		return *this;
	}
	
  /**@brief Scale the vector
   * @param s Scale factor */
	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
		mVec128 = _mm_mul_ps(mVec128, vs);
#elif defined(BT_USE_NEON)
		mVec128 = vmulq_n_f32(mVec128, s);
#else
		m_floats[0] *= s; 
		m_floats[1] *= s;
		m_floats[2] *= s;
#endif
		return *this;
	}

  /**@brief Inversely scale the vector 
   * @param s Scale factor to divide by */
	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
	{
		btFullAssert(s != btScalar(0.0));

#if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster !
		__m128 vs = _mm_load_ss(&s);
		vs = _mm_div_ss(v1110, vs);
		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)

		mVec128 = _mm_mul_ps(mVec128, vs);
		
		return *this;
#else
		return *this *= btScalar(1.0) / s;
#endif
	}

  /**@brief Return the dot product
   * @param v The other vector in the dot product */
	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
	{
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		__m128 vd = _mm_mul_ps(mVec128, v.mVec128);
		__m128 z = _mm_movehl_ps(vd, vd);
		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
		vd = _mm_add_ss(vd, y);
		vd = _mm_add_ss(vd, z);
		return _mm_cvtss_f32(vd);
#elif defined(BT_USE_NEON)
		float32x4_t vd = vmulq_f32(mVec128, v.mVec128);
		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd));  
		x = vadd_f32(x, vget_high_f32(vd));
		return vget_lane_f32(x, 0);
#else	
		return	m_floats[0] * v.m_floats[0] + 
				m_floats[1] * v.m_floats[1] + 
				m_floats[2] * v.m_floats[2];
#endif
	}

  /**@brief Return the length of the vector squared */
	SIMD_FORCE_INLINE btScalar length2() const
	{
		return dot(*this);
	}

  /**@brief Return the length of the vector */
	SIMD_FORCE_INLINE btScalar length() const
	{
		return btSqrt(length2());
	}

	/**@brief Return the norm (length) of the vector */
	SIMD_FORCE_INLINE btScalar norm() const
	{		
		return length();
	}

	/**@brief Return the norm (length) of the vector */
	SIMD_FORCE_INLINE btScalar safeNorm() const
	{
		btScalar d = length2();
		//workaround for some clang/gcc issue of sqrtf(tiny number) = -INF
		if (d>SIMD_EPSILON)
			return btSqrt(d);
		return btScalar(0);
	}

  /**@brief Return the distance squared between the ends of this and another vector
   * This is symantically treating the vector like a point */
	SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;

  /**@brief Return the distance between the ends of this and another vector
   * This is symantically treating the vector like a point */
	SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;

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

  /**@brief Normalize this vector 
   * x^2 + y^2 + z^2 = 1 */
	SIMD_FORCE_INLINE btVector3& normalize() 
	{
		
		btAssert(!fuzzyZero());

#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)		
        // dot product first
		__m128 vd = _mm_mul_ps(mVec128, mVec128);
		__m128 z = _mm_movehl_ps(vd, vd);
		__m128 y = _mm_shuffle_ps(vd, vd, 0x55);
		vd = _mm_add_ss(vd, y);
		vd = _mm_add_ss(vd, z);
		
        #if 0
        vd = _mm_sqrt_ss(vd);
		vd = _mm_div_ss(v1110, vd);
		vd = bt_splat_ps(vd, 0x80);
		mVec128 = _mm_mul_ps(mVec128, vd);
        #else
        
        // NR step 1/sqrt(x) - vd is x, y is output 
        y = _mm_rsqrt_ss(vd); // estimate 
        
        //  one step NR 
        z = v1_5;
        vd = _mm_mul_ss(vd, vHalf); // vd * 0.5	
        //x2 = vd;
        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0
        vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0
        z = _mm_sub_ss(z, vd);  // 1.5 - vd * 0.5 * y0 * y0 

        y = _mm_mul_ss(y, z);   // y0 * (1.5 - vd * 0.5 * y0 * y0)

		y = bt_splat_ps(y, 0x80);
		mVec128 = _mm_mul_ps(mVec128, y);

        #endif

		
		return *this;
#else	
		return *this /= length();
#endif
	}

  /**@brief Return a normalized version of this vector */
	SIMD_FORCE_INLINE btVector3 normalized() const;

  /**@brief Return a rotated version of this vector
   * @param wAxis The axis to rotate about 
   * @param angle The angle to rotate by */
	SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;

  /**@brief Return the angle between this and another vector
   * @param v The other vector */
	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const 
	{
		btScalar s = btSqrt(length2() * v.length2());
		btFullAssert(s != btScalar(0.0));
		return btAcos(dot(v) / s);
	}
	
  /**@brief Return a vector will the absolute values of each element */
	SIMD_FORCE_INLINE btVector3 absolute() const 
	{

#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
		return btVector3(_mm_and_ps(mVec128, btv3AbsfMask));
#elif defined(BT_USE_NEON)
		return btVector3(vabsq_f32(mVec128));
#else	
		return btVector3(
			btFabs(m_floats[0]), 
			btFabs(m_floats[1]), 
			btFabs(m_floats[2]));
#endif
	}
	
  /**@brief Return the cross product between this and another vector 
   * @param v The other vector */
	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		__m128	T, V;
		
		T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
		V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
		
		V = _mm_mul_ps(V, mVec128);
		T = _mm_mul_ps(T, v.mVec128);
		V = _mm_sub_ps(V, T);
		
		V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3));
		return btVector3(V);
#elif defined(BT_USE_NEON)
		float32x4_t T, V;
		// form (Y, Z, X, _) of mVec128 and v.mVec128
		float32x2_t Tlow = vget_low_f32(mVec128);
		float32x2_t Vlow = vget_low_f32(v.mVec128);
		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow);
		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow);
		
		V = vmulq_f32(V, mVec128);
		T = vmulq_f32(T, v.mVec128);
		V = vsubq_f32(V, T);
		Vlow = vget_low_f32(V);
		// form (Y, Z, X, _);
		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);
		V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask);
		
		return btVector3(V);
#else
		return btVector3(
			m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1],
			m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2],
			m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]);
#endif
	}

	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
	{
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		// cross:
		__m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
		__m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3));	//	(Y Z X 0)
		
		V = _mm_mul_ps(V, v1.mVec128);
		T = _mm_mul_ps(T, v2.mVec128);
		V = _mm_sub_ps(V, T);
		
		V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3));

		// dot: 
		V = _mm_mul_ps(V, mVec128);
		__m128 z = _mm_movehl_ps(V, V);
		__m128 y = _mm_shuffle_ps(V, V, 0x55);
		V = _mm_add_ss(V, y);
		V = _mm_add_ss(V, z);
		return _mm_cvtss_f32(V);

#elif defined(BT_USE_NEON)
		// cross:
		float32x4_t T, V;
		// form (Y, Z, X, _) of mVec128 and v.mVec128
		float32x2_t Tlow = vget_low_f32(v1.mVec128);
		float32x2_t Vlow = vget_low_f32(v2.mVec128);
		T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow);
		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow);
		
		V = vmulq_f32(V, v1.mVec128);
		T = vmulq_f32(T, v2.mVec128);
		V = vsubq_f32(V, T);
		Vlow = vget_low_f32(V);
		// form (Y, Z, X, _);
		V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow);

		// dot: 
		V = vmulq_f32(mVec128, V);
		float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V));  
		x = vadd_f32(x, vget_high_f32(V));
		return vget_lane_f32(x, 0);
#else
		return 
			m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 
			m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 
			m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]);
#endif
	}

  /**@brief Return the axis with the smallest value 
   * Note return values are 0,1,2 for x, y, or z */
	SIMD_FORCE_INLINE int minAxis() const
	{
		return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);
	}

  /**@brief Return the axis with the largest value 
   * Note return values are 0,1,2 for x, y, or z */
	SIMD_FORCE_INLINE int maxAxis() const 
	{
		return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);
	}

	SIMD_FORCE_INLINE int furthestAxis() const
	{
		return absolute().minAxis();
	}

	SIMD_FORCE_INLINE int closestAxis() const 
	{
		return absolute().maxAxis();
	}

	
	SIMD_FORCE_INLINE void setInterpolate3(const btVector3& v0, const btVector3& v1, btScalar rt)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		__m128	vrt = _mm_load_ss(&rt);	//	(rt 0 0 0)
		btScalar s = btScalar(1.0) - rt;
		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
		vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
		__m128 r0 = _mm_mul_ps(v0.mVec128, vs);
		vrt = bt_pshufd_ps(vrt, 0x80);	//	(rt rt rt 0.0)
		__m128 r1 = _mm_mul_ps(v1.mVec128, vrt);
		__m128 tmp3 = _mm_add_ps(r0,r1);
		mVec128 = tmp3;
#elif defined(BT_USE_NEON)
		float32x4_t vl = vsubq_f32(v1.mVec128, v0.mVec128);
		vl = vmulq_n_f32(vl, rt);
		mVec128 = vaddq_f32(vl, v0.mVec128);
#else
		btScalar s = btScalar(1.0) - rt;
		m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0];
		m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1];
		m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2];
		//don't do the unused w component
		//		m_co[3] = s * v0[3] + rt * v1[3];
#endif
	}

  /**@brief Return the linear interpolation between this and another vector 
   * @param v The other vector 
   * @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
	SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		__m128	vt = _mm_load_ss(&t);	//	(t 0 0 0)
		vt = bt_pshufd_ps(vt, 0x80);	//	(rt rt rt 0.0)
		__m128 vl = _mm_sub_ps(v.mVec128, mVec128);
		vl = _mm_mul_ps(vl, vt);
		vl = _mm_add_ps(vl, mVec128);
		
		return btVector3(vl);
#elif defined(BT_USE_NEON)
		float32x4_t vl = vsubq_f32(v.mVec128, mVec128);
		vl = vmulq_n_f32(vl, t);
		vl = vaddq_f32(vl, mVec128);
		
		return btVector3(vl);
#else	
		return 
			btVector3(	m_floats[0] + (v.m_floats[0] - m_floats[0]) * t,
						m_floats[1] + (v.m_floats[1] - m_floats[1]) * t,
						m_floats[2] + (v.m_floats[2] - m_floats[2]) * t);
#endif
	}

  /**@brief Elementwise multiply this vector by the other 
   * @param v The other vector */
	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = _mm_mul_ps(mVec128, v.mVec128);
#elif defined(BT_USE_NEON)
		mVec128 = vmulq_f32(mVec128, v.mVec128);
#else	
		m_floats[0] *= v.m_floats[0]; 
		m_floats[1] *= v.m_floats[1];
		m_floats[2] *= v.m_floats[2];
#endif
		return *this;
	}

	 /**@brief Return the x value */
		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
  /**@brief Return the y value */
		SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
  /**@brief Return the z value */
		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
  /**@brief Set the x value */
		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
  /**@brief Set the y value */
		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
  /**@brief Set the z value */
		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
  /**@brief Set the w value */
		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
  /**@brief Return the x value */
		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
  /**@brief Return the y value */
		SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
  /**@brief Return the z value */
		SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
  /**@brief Return the w value */
		SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }

	//SIMD_FORCE_INLINE btScalar&       operator[](int i)       { return (&m_floats[0])[i];	}      
	//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
	///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
	SIMD_FORCE_INLINE	operator       btScalar *()       { return &m_floats[0]; }
	SIMD_FORCE_INLINE	operator const btScalar *() const { return &m_floats[0]; }

	SIMD_FORCE_INLINE	bool	operator==(const btVector3& other) const
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
#else 
		return ((m_floats[3]==other.m_floats[3]) && 
                (m_floats[2]==other.m_floats[2]) && 
                (m_floats[1]==other.m_floats[1]) && 
                (m_floats[0]==other.m_floats[0]));
#endif
	}

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

  /**@brief Set each element to the max of the current values and the values of another btVector3
   * @param other The other btVector3 to compare with 
   */
	SIMD_FORCE_INLINE void	setMax(const btVector3& other)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = _mm_max_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON)
		mVec128 = vmaxq_f32(mVec128, other.mVec128);
#else
		btSetMax(m_floats[0], other.m_floats[0]);
		btSetMax(m_floats[1], other.m_floats[1]);
		btSetMax(m_floats[2], other.m_floats[2]);
		btSetMax(m_floats[3], other.w());
#endif
	}

  /**@brief Set each element to the min of the current values and the values of another btVector3
   * @param other The other btVector3 to compare with 
   */
	SIMD_FORCE_INLINE void	setMin(const btVector3& other)
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = _mm_min_ps(mVec128, other.mVec128);
#elif defined(BT_USE_NEON)
		mVec128 = vminq_f32(mVec128, other.mVec128);
#else
		btSetMin(m_floats[0], other.m_floats[0]);
		btSetMin(m_floats[1], other.m_floats[1]);
		btSetMin(m_floats[2], other.m_floats[2]);
		btSetMin(m_floats[3], other.w());
#endif
	}

	SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
	{
		m_floats[0]=_x;
		m_floats[1]=_y;
		m_floats[2]=_z;
		m_floats[3] = btScalar(0.f);
	}

	void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
	{
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
 
		__m128 V  = _mm_and_ps(mVec128, btvFFF0fMask);
		__m128 V0 = _mm_xor_ps(btvMzeroMask, V);
		__m128 V2 = _mm_movelh_ps(V0, V);
		
		__m128 V1 = _mm_shuffle_ps(V, V0, 0xCE);
		
        V0 = _mm_shuffle_ps(V0, V, 0xDB);
		V2 = _mm_shuffle_ps(V2, V, 0xF9);
		
		v0->mVec128 = V0;
		v1->mVec128 = V1;
		v2->mVec128 = V2;
#else
		v0->setValue(0.		,-z()		,y());
		v1->setValue(z()	,0.			,-x());
		v2->setValue(-y()	,x()	,0.);
#endif
	}

	void setZero()
	{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
		mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128);
#elif defined(BT_USE_NEON)
		int32x4_t vi = vdupq_n_s32(0); 
		mVec128 = vreinterpretq_f32_s32(vi);
#else	
		setValue(btScalar(0.),btScalar(0.),btScalar(0.));
#endif
	}

	SIMD_FORCE_INLINE bool isZero() const 
	{
		return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
	}


	SIMD_FORCE_INLINE bool fuzzyZero() const 
	{
		return length2() < SIMD_EPSILON*SIMD_EPSILON;
	}

	SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;

	SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);

	SIMD_FORCE_INLINE	void	serializeFloat(struct	btVector3FloatData& dataOut) const;

	SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btVector3FloatData& dataIn);

	SIMD_FORCE_INLINE	void	serializeDouble(struct	btVector3DoubleData& dataOut) const;

	SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btVector3DoubleData& dataIn);
    
        /**@brief returns index of maximum dot product between this and vectors in array[]
         * @param array The other vectors 
         * @param array_count The number of other vectors 
         * @param dotOut The maximum dot product */
        SIMD_FORCE_INLINE   long    maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 

        /**@brief returns index of minimum dot product between this and vectors in array[]
         * @param array The other vectors 
         * @param array_count The number of other vectors 
         * @param dotOut The minimum dot product */    
        SIMD_FORCE_INLINE   long    minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; 

    /* create a vector as  btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 ))  */
    SIMD_FORCE_INLINE btVector3  dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const
    {
#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)

        __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 );
        __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 );
        __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 );
        __m128 b0 = _mm_unpacklo_ps( a0, a1 );
        __m128 b1 = _mm_unpackhi_ps( a0, a1 );
        __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() );
        __m128 r = _mm_movelh_ps( b0, b2 );
        r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 ));
        a2 = _mm_and_ps( a2, btvxyzMaskf);
        r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) )));
        return btVector3(r);
        
#elif defined(BT_USE_NEON)
        static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), static_cast<uint32_t>(-1), 0 };
        float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128);
        float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128);
        float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128);
        float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1));
        a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask );
        float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] );
        float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f));
        return btVector3( vcombine_f32(b0, b1) );
#else	
		return btVector3( dot(v0), dot(v1), dot(v2));
#endif
    }
};

/**@brief Return the sum of two vectors (Point symantics)*/
SIMD_FORCE_INLINE btVector3 
operator+(const btVector3& v1, const btVector3& v2) 
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
	return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON)
	return btVector3(vaddq_f32(v1.mVec128, v2.mVec128));
#else
	return btVector3(
			v1.m_floats[0] + v2.m_floats[0], 
			v1.m_floats[1] + v2.m_floats[1], 
			v1.m_floats[2] + v2.m_floats[2]);
#endif
}

/**@brief Return the elementwise product of two vectors */
SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v1, const btVector3& v2) 
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
	return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128));
#elif defined(BT_USE_NEON)
	return btVector3(vmulq_f32(v1.mVec128, v2.mVec128));
#else
	return btVector3(
			v1.m_floats[0] * v2.m_floats[0], 
			v1.m_floats[1] * v2.m_floats[1], 
			v1.m_floats[2] * v2.m_floats[2]);
#endif
}

/**@brief Return the difference between two vectors */
SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v1, const btVector3& v2)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)  && defined(BT_USE_SSE))

	//	without _mm_and_ps this code causes slowdown in Concave moving
	__m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128);
	return btVector3(_mm_and_ps(r, btvFFF0fMask));
#elif defined(BT_USE_NEON)
	float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128);
	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else
	return btVector3(
			v1.m_floats[0] - v2.m_floats[0], 
			v1.m_floats[1] - v2.m_floats[1], 
			v1.m_floats[2] - v2.m_floats[2]);
#endif
}

/**@brief Return the negative of the vector */
SIMD_FORCE_INLINE btVector3 
operator-(const btVector3& v)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE))
	__m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask);
	return btVector3(_mm_and_ps(r, btvFFF0fMask)); 
#elif defined(BT_USE_NEON)
	return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask));
#else	
	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
#endif
}

/**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 
operator*(const btVector3& v, const btScalar& s)
{
#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
	__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
	vs = bt_pshufd_ps(vs, 0x80);	//	(S S S 0.0)
	return btVector3(_mm_mul_ps(v.mVec128, vs));
#elif defined(BT_USE_NEON)
	float32x4_t r = vmulq_n_f32(v.mVec128, s);
	return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask));
#else
	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
#endif
}

/**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3 
operator*(const btScalar& s, const btVector3& v)
{ 
	return v * s; 
}

/**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v, const btScalar& s)
{
	btFullAssert(s != btScalar(0.0));
#if 0 //defined(BT_USE_SSE_IN_API)
// this code is not faster !
	__m128 vs = _mm_load_ss(&s);
    vs = _mm_div_ss(v1110, vs);
	vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)

	return btVector3(_mm_mul_ps(v.mVec128, vs));
#else
	return v * (btScalar(1.0) / s);
#endif
}

/**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v1, const btVector3& v2)
{
#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE))
	__m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128);
	vec = _mm_and_ps(vec, btvFFF0fMask);
	return btVector3(vec); 
#elif defined(BT_USE_NEON)
	float32x4_t x, y, v, m;

	x = v1.mVec128;
	y = v2.mVec128;
	
	v = vrecpeq_f32(y);			// v ~ 1/y
	m = vrecpsq_f32(y, v);		// m = (2-v*y)
	v = vmulq_f32(v, m);		// vv = v*m ~~ 1/y
	m = vrecpsq_f32(y, v);		// mm = (2-vv*y)
	v = vmulq_f32(v, x);		// x*vv
	v = vmulq_f32(v, m);		// (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y

	return btVector3(v);
#else
	return btVector3(
			v1.m_floats[0] / v2.m_floats[0], 
			v1.m_floats[1] / v2.m_floats[1],
			v1.m_floats[2] / v2.m_floats[2]);
#endif
}

/**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar 
btDot(const btVector3& v1, const btVector3& v2) 
{ 
	return v1.dot(v2); 
}


/**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar
btDistance2(const btVector3& v1, const btVector3& v2) 
{ 
	return v1.distance2(v2); 
}


/**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar
btDistance(const btVector3& v1, const btVector3& v2) 
{ 
	return v1.distance(v2); 
}

/**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar
btAngle(const btVector3& v1, const btVector3& v2) 
{ 
	return v1.angle(v2); 
}

/**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3 
btCross(const btVector3& v1, const btVector3& v2) 
{ 
	return v1.cross(v2); 
}

SIMD_FORCE_INLINE btScalar
btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
	return v1.triple(v2, v3);
}

/**@brief Return the linear interpolation between two vectors
 * @param v1 One vector 
 * @param v2 The other vector 
 * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
SIMD_FORCE_INLINE btVector3 
lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{
	return v1.lerp(v2, t);
}



SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const
{
	return (v - *this).length2();
}

SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const
{
	return (v - *this).length();
}

SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
{
	btVector3 nrm = *this;

	return nrm.normalize();
} 

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

#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)

    __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128);
	btScalar ssin = btSin( _angle );
    __m128 C = wAxis.cross( mVec128 ).mVec128;
	O = _mm_and_ps(O, btvFFF0fMask);
    btScalar scos = btCos( _angle );
	
	__m128 vsin = _mm_load_ss(&ssin);	//	(S 0 0 0)
    __m128 vcos = _mm_load_ss(&scos);	//	(S 0 0 0)
	
	__m128 Y = bt_pshufd_ps(O, 0xC9);	//	(Y Z X 0)
	__m128 Z = bt_pshufd_ps(O, 0xD2);	//	(Z X Y 0)
	O = _mm_add_ps(O, Y);
	vsin = bt_pshufd_ps(vsin, 0x80);	//	(S S S 0)
	O = _mm_add_ps(O, Z);
    vcos = bt_pshufd_ps(vcos, 0x80);	//	(S S S 0)
	
    vsin = vsin * C; 
	O = O * wAxis.mVec128; 
	__m128 X = mVec128 - O; 
	
    O = O + vsin;
	vcos = vcos * X;
	O = O + vcos;	
	
	return btVector3(O);
#else
	btVector3 o = wAxis * wAxis.dot( *this );
	btVector3 _x = *this - o;
	btVector3 _y;

	_y = wAxis.cross( *this );

	return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) );
#endif
}

SIMD_FORCE_INLINE   long    btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
{
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    #if defined _WIN32 || defined (BT_USE_SSE)
        const long scalar_cutoff = 10;
        long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #elif defined BT_USE_NEON
        const long scalar_cutoff = 4;
        extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #endif
    if( array_count < scalar_cutoff )	
#endif
    {
        btScalar maxDot1 = -SIMD_INFINITY;
        int i = 0;
        int ptIndex = -1;
        for( i = 0; i < array_count; i++ )
        {
            btScalar dot = array[i].dot(*this);
            
            if( dot > maxDot1 )
            {
                maxDot1 = dot;
                ptIndex = i;
            }
        }
        
        dotOut = maxDot1;
        return ptIndex;
    }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif
}

SIMD_FORCE_INLINE   long    btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const
{
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    #if defined BT_USE_SSE
        const long scalar_cutoff = 10;
        long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #elif defined BT_USE_NEON
        const long scalar_cutoff = 4;
        extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut );
    #else
        #error unhandled arch!
    #endif
    
    if( array_count < scalar_cutoff )
#endif
    {
        btScalar  minDot = SIMD_INFINITY;
        int i = 0;
        int ptIndex = -1;
        
        for( i = 0; i < array_count; i++ )
        {
            btScalar dot = array[i].dot(*this);
            
            if( dot < minDot )
            {
                minDot = dot;
                ptIndex = i;
            }
        }
        
        dotOut = minDot;
        
        return ptIndex;
    }
#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
    return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut );
#endif//BT_USE_SIMD_VECTOR3
}


class btVector4 : public btVector3
{
public:

	SIMD_FORCE_INLINE btVector4() {}


	SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
		: btVector3(_x,_y,_z)
	{
		m_floats[3] = _w;
	}

#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) 
	SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec)
	{
		mVec128 = vec;
	}

	SIMD_FORCE_INLINE btVector4(const btVector3& rhs)
	{
		mVec128 = rhs.mVec128;
	}

	SIMD_FORCE_INLINE btVector4& 
	operator=(const btVector4& v) 
	{
		mVec128 = v.mVec128;
		return *this;
	}
#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) 

	SIMD_FORCE_INLINE btVector4 absolute4() const 
	{
#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) 
		return btVector4(_mm_and_ps(mVec128, btvAbsfMask));
#elif defined(BT_USE_NEON)
		return btVector4(vabsq_f32(mVec128));
#else	
		return btVector4(
			btFabs(m_floats[0]), 
			btFabs(m_floats[1]), 
			btFabs(m_floats[2]),
			btFabs(m_floats[3]));
#endif
	}


	btScalar	getW() const { return m_floats[3];}


		SIMD_FORCE_INLINE int maxAxis4() const
	{
		int maxIndex = -1;
		btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
		if (m_floats[0] > maxVal)
		{
			maxIndex = 0;
			maxVal = m_floats[0];
		}
		if (m_floats[1] > maxVal)
		{
			maxIndex = 1;
			maxVal = m_floats[1];
		}
		if (m_floats[2] > maxVal)
		{
			maxIndex = 2;
			maxVal =m_floats[2];
		}
		if (m_floats[3] > maxVal)
		{
			maxIndex = 3;
			maxVal = m_floats[3];
		}

		return maxIndex;
	}


	SIMD_FORCE_INLINE int minAxis4() const
	{
		int minIndex = -1;
		btScalar minVal = btScalar(BT_LARGE_FLOAT);
		if (m_floats[0] < minVal)
		{
			minIndex = 0;
			minVal = m_floats[0];
		}
		if (m_floats[1] < minVal)
		{
			minIndex = 1;
			minVal = m_floats[1];
		}
		if (m_floats[2] < minVal)
		{
			minIndex = 2;
			minVal =m_floats[2];
		}
		if (m_floats[3] < minVal)
		{
			minIndex = 3;
			minVal = m_floats[3];
		}
		
		return minIndex;
	}


	SIMD_FORCE_INLINE int closestAxis4() const 
	{
		return absolute4().maxAxis4();
	}

	
 

  /**@brief Set x,y,z and zero w 
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   */
		

/*		void getValue(btScalar *m) const 
		{
			m[0] = m_floats[0];
			m[1] = m_floats[1];
			m[2] =m_floats[2];
		}
*/
/**@brief Set the values 
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   * @param w Value of w
   */
		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
		{
			m_floats[0]=_x;
			m_floats[1]=_y;
			m_floats[2]=_z;
			m_floats[3]=_w;
		}


};


///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void	btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{
	#ifdef BT_USE_DOUBLE_PRECISION
	unsigned char* dest = (unsigned char*) &destVal;
	unsigned char* src  = (unsigned char*) &sourceVal;
	dest[0] = src[7];
    dest[1] = src[6];
    dest[2] = src[5];
    dest[3] = src[4];
    dest[4] = src[3];
    dest[5] = src[2];
    dest[6] = src[1];
    dest[7] = src[0];
#else
	unsigned char* dest = (unsigned char*) &destVal;
	unsigned char* src  = (unsigned char*) &sourceVal;
	dest[0] = src[3];
    dest[1] = src[2];
    dest[2] = src[1];
    dest[3] = src[0];
#endif //BT_USE_DOUBLE_PRECISION
}
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void	btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{
	for (int i=0;i<4;i++)
	{
		btSwapScalarEndian(sourceVec[i],destVec[i]);
	}

}

///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void	btUnSwapVector3Endian(btVector3& vector)
{

	btVector3	swappedVec;
	for (int i=0;i<4;i++)
	{
		btSwapScalarEndian(vector[i],swappedVec[i]);
	}
	vector = swappedVec;
}

template <class T>
SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
{
  if (btFabs(n[2]) > SIMDSQRT12) {
    // choose p in y-z plane
    btScalar a = n[1]*n[1] + n[2]*n[2];
    btScalar k = btRecipSqrt (a);
    p[0] = 0;
	p[1] = -n[2]*k;
	p[2] = n[1]*k;
    // set q = n x p
    q[0] = a*k;
	q[1] = -n[0]*p[2];
	q[2] = n[0]*p[1];
  }
  else {
    // choose p in x-y plane
    btScalar a = n[0]*n[0] + n[1]*n[1];
    btScalar k = btRecipSqrt (a);
    p[0] = -n[1]*k;
	p[1] = n[0]*k;
	p[2] = 0;
    // set q = n x p
    q[0] = -n[2]*p[1];
	q[1] = n[2]*p[0];
	q[2] = a*k;
  }
}


struct	btVector3FloatData
{
	float	m_floats[4];
};

struct	btVector3DoubleData
{
	double	m_floats[4];

};

SIMD_FORCE_INLINE	void	btVector3::serializeFloat(struct	btVector3FloatData& dataOut) const
{
	///could also do a memcpy, check if it is worth it
	for (int i=0;i<4;i++)
		dataOut.m_floats[i] = float(m_floats[i]);
}

SIMD_FORCE_INLINE void	btVector3::deSerializeFloat(const struct	btVector3FloatData& dataIn)
{
	for (int i=0;i<4;i++)
		m_floats[i] = btScalar(dataIn.m_floats[i]);
}


SIMD_FORCE_INLINE	void	btVector3::serializeDouble(struct	btVector3DoubleData& dataOut) const
{
	///could also do a memcpy, check if it is worth it
	for (int i=0;i<4;i++)
		dataOut.m_floats[i] = double(m_floats[i]);
}

SIMD_FORCE_INLINE void	btVector3::deSerializeDouble(const struct	btVector3DoubleData& dataIn)
{
	for (int i=0;i<4;i++)
		m_floats[i] = btScalar(dataIn.m_floats[i]);
}


SIMD_FORCE_INLINE	void	btVector3::serialize(struct	btVector3Data& dataOut) const
{
	///could also do a memcpy, check if it is worth it
	for (int i=0;i<4;i++)
		dataOut.m_floats[i] = m_floats[i];
}

SIMD_FORCE_INLINE void	btVector3::deSerialize(const struct	btVector3Data& dataIn)
{
	for (int i=0;i<4;i++)
		m_floats[i] = dataIn.m_floats[i];
}

#endif //BT_VECTOR3_H