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

src/LinearMath/btQuadWord.h
238 строк7 KB
Aaron Franke
Update Bullet URL in copyright statements
13 сен 2021, 17:06
13 сен 2021, 17:06ad74cfe
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org

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_SIMD_QUADWORD_H
#define BT_SIMD_QUADWORD_H

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

#if defined(__CELLOS_LV2) && defined(__SPU__)
#include <altivec.h>
#endif

/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. 
 * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
 */
#ifndef USE_LIBSPE2
ATTRIBUTE_ALIGNED16(class)
btQuadWord
#else
class btQuadWord
#endif
{
protected:
#if defined(__SPU__) && defined(__CELLOS_LV2__)
	union {
		vec_float4 mVec128;
		btScalar m_floats[4];
	};

public:
	vec_float4 get128() const
	{
		return mVec128;
	}

protected:
#else  //__CELLOS_LV2__ __SPU__

#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
	union {
		btSimdFloat4 mVec128;
		btScalar m_floats[4];
	};

public:
	SIMD_FORCE_INLINE btSimdFloat4 get128() const
	{
		return mVec128;
	}
	SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
	{
		mVec128 = v128;
	}
#else
	btScalar m_floats[4];
#endif  // BT_USE_SSE

#endif  //__CELLOS_LV2__ __SPU__

public:
#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)

	// Set Vector
	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
	{
		mVec128 = vec;
	}

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

	// Assignment Operator
	SIMD_FORCE_INLINE btQuadWord&
	operator=(const btQuadWord& v)
	{
		mVec128 = v.mVec128;

		return *this;
	}

#endif

	/**@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 btQuadWord& other) const
	{
#ifdef 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 btQuadWord& other) const
	{
		return !(*this == other);
	}

	/**@brief Set x,y,z and zero w 
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   */
	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] = 0.f;
	}

	/*		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;
	}
	/**@brief No initialization constructor */
	SIMD_FORCE_INLINE btQuadWord()
	//	:m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
	{
	}

	/**@brief Three argument constructor (zeros w)
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   */
	SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
	{
		m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
	}

	/**@brief Initializing constructor
   * @param x Value of x
   * @param y Value of y
   * @param z Value of z
   * @param w Value of w
   */
	SIMD_FORCE_INLINE btQuadWord(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;
	}

	/**@brief Set each element to the max of the current values and the values of another btQuadWord
   * @param other The other btQuadWord to compare with 
   */
	SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
	{
#ifdef 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.m_floats[3]);
#endif
	}
	/**@brief Set each element to the min of the current values and the values of another btQuadWord
   * @param other The other btQuadWord to compare with 
   */
	SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
	{
#ifdef 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.m_floats[3]);
#endif
	}
};

#endif  //BT_SIMD_QUADWORD_H