path: root/extern/bullet/LinearMath/SimdVector3.h

/*

Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>

Permission is hereby granted, free of charge, to any person or organization
obtaining a copy of the software and accompanying documentation covered by
this license (the "Software") to use, reproduce, display, distribute,
execute, and transmit the Software, and to prepare derivative works of the
Software, and to permit third-parties to whom the Software is furnished to
do so, all subject to the following:

The copyright notices in the Software and this entire statement, including
the above license grant, this restriction and the following disclaimer,
must be included in all copies of the Software, in whole or in part, and
all derivative works of the Software, unless such copies or derivative
works are solely in the form of machine-executable object code generated by
a source language processor.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/


#ifndef SIMD__VECTOR3_H
#define SIMD__VECTOR3_H

#include "SimdQuadWord.h"


///SimdVector3 is 16byte aligned, and has an extra unused component m_w
///this extra component can be used by derived classes (Quaternion?) or by user
class SimdVector3 : public SimdQuadWord {


public:
	SIMD_FORCE_INLINE SimdVector3() {}

	

	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
		:SimdQuadWord(x,y,z,0.f)
	{
	}

//	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
//		: SimdQuadWord(x,y,z,w)
//	{
//	}

	

	SIMD_FORCE_INLINE SimdVector3& operator+=(const SimdVector3& v)
	{
		m_x += v.x(); m_y += v.y(); m_z += v.z();
		return *this;
	}



	SIMD_FORCE_INLINE SimdVector3& operator-=(const SimdVector3& v) 
	{
		m_x -= v.x(); m_y -= v.y(); m_z -= v.z();
		return *this;
	}

	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdScalar& s)
	{
		m_x *= s; m_y *= s; m_z *= s;
		return *this;
	}

	SIMD_FORCE_INLINE SimdVector3& operator/=(const SimdScalar& s) 
	{
		assert(s != SimdScalar(0.0));
		return *this *= SimdScalar(1.0) / s;
	}

	SIMD_FORCE_INLINE SimdScalar dot(const SimdVector3& v) const
	{
		return m_x * v.x() + m_y * v.y() + m_z * v.z();
	}

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

	SIMD_FORCE_INLINE SimdScalar length() const
	{
		return sqrtf(length2());
	}

	SIMD_FORCE_INLINE SimdScalar distance2(const SimdVector3& v) const;

	SIMD_FORCE_INLINE SimdScalar distance(const SimdVector3& v) const;

	SIMD_FORCE_INLINE SimdVector3& normalize() 
	{
		return *this /= length();
	}

	SIMD_FORCE_INLINE SimdVector3 normalized() const;

	SIMD_FORCE_INLINE SimdScalar angle(const SimdVector3& v) const 
	{
		SimdScalar s = sqrtf(length2() * v.length2());
		assert(s != SimdScalar(0.0));
		return acosf(dot(v) / s);
	}

	SIMD_FORCE_INLINE SimdVector3 absolute() const 
	{
		return SimdVector3(
			fabsf(m_x), 
			fabsf(m_y), 
			fabsf(m_z));
	}

	SIMD_FORCE_INLINE SimdVector3 cross(const SimdVector3& v) const
	{
		return SimdVector3(
			m_y * v.z() - m_z * v.y(),
			m_z * v.x() - m_x * v.z(),
			m_x * v.y() - m_y * v.x());
	}

	SIMD_FORCE_INLINE SimdScalar triple(const SimdVector3& v1, const SimdVector3& v2) const
	{
		return m_x * (v1.y() * v2.z() - v1.z() * v2.y()) + 
			m_y * (v1.z() * v2.x() - v1.x() * v2.z()) + 
			m_z * (v1.x() * v2.y() - v1.y() * v2.x());
	}

	SIMD_FORCE_INLINE int minAxis() const
	{
		return m_x < m_y ? (m_x < m_z ? 0 : 2) : (m_y < m_z ? 1 : 2);
	}

	SIMD_FORCE_INLINE int maxAxis() const 
	{
		return m_x < m_y ? (m_y < m_z ? 2 : 1) : (m_x < m_z ? 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 SimdVector3& v0, const SimdVector3& v1, SimdScalar rt)
	{
		SimdScalar s = 1.0f - rt;
		m_x = s * v0[0] + rt * v1.x();
		m_y = s * v0[1] + rt * v1.y();
		m_z = s * v0[2] + rt * v1.z();
		//don't do the unused w component
		//		m_co[3] = s * v0[3] + rt * v1[3];
	}

	SIMD_FORCE_INLINE SimdVector3 lerp(const SimdVector3& v, const SimdScalar& t) const 
	{
		return SimdVector3(m_x + (v.x() - m_x) * t,
			m_y + (v.y() - m_y) * t,
			m_z + (v.z() - m_z) * t);
	}


	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdVector3& v)
	{
		m_x *= v.x(); m_y *= v.y(); m_z *= v.z();
		return *this;
	}

	

};

SIMD_FORCE_INLINE SimdVector3 
operator+(const SimdVector3& v1, const SimdVector3& v2) 
{
	return SimdVector3(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
}

SIMD_FORCE_INLINE SimdVector3 
operator*(const SimdVector3& v1, const SimdVector3& v2) 
{
	return SimdVector3(v1.x() * v2.x(), v1.y() * v2.y(), v1.z() *+ v2.z());
}

SIMD_FORCE_INLINE SimdVector3 
operator-(const SimdVector3& v1, const SimdVector3& v2)
{
	return SimdVector3(v1.x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());
}

SIMD_FORCE_INLINE SimdVector3 
operator-(const SimdVector3& v)
{
	return SimdVector3(-v.x(), -v.y(), -v.z());
}

SIMD_FORCE_INLINE SimdVector3 
operator*(const SimdVector3& v, const SimdScalar& s)
{
	return SimdVector3(v.x() * s, v.y() * s, v.z() * s);
}

SIMD_FORCE_INLINE SimdVector3 
operator*(const SimdScalar& s, const SimdVector3& v)
{ 
	return v * s; 
}

SIMD_FORCE_INLINE SimdVector3
operator/(const SimdVector3& v, const SimdScalar& s)
{
	assert(s != SimdScalar(0.0));
	return v * (SimdScalar(1.0) / s);
}

SIMD_FORCE_INLINE SimdScalar 
dot(const SimdVector3& v1, const SimdVector3& v2) 
{ 
	return v1.dot(v2); 
}



SIMD_FORCE_INLINE SimdScalar
distance2(const SimdVector3& v1, const SimdVector3& v2) 
{ 
	return v1.distance2(v2); 
}


SIMD_FORCE_INLINE SimdScalar
distance(const SimdVector3& v1, const SimdVector3& v2) 
{ 
	return v1.distance(v2); 
}

SIMD_FORCE_INLINE SimdScalar
angle(const SimdVector3& v1, const SimdVector3& v2) 
{ 
	return v1.angle(v2); 
}

SIMD_FORCE_INLINE SimdVector3 
cross(const SimdVector3& v1, const SimdVector3& v2) 
{ 
	return v1.cross(v2); 
}

SIMD_FORCE_INLINE SimdScalar
triple(const SimdVector3& v1, const SimdVector3& v2, const SimdVector3& v3)
{
	return v1.triple(v2, v3);
}

SIMD_FORCE_INLINE SimdVector3 
lerp(const SimdVector3& v1, const SimdVector3& v2, const SimdScalar& t)
{
	return v1.lerp(v2, t);
}


SIMD_FORCE_INLINE bool operator==(const SimdVector3& p1, const SimdVector3& p2) 
{
	return p1[0] == p2[0] && p1[1] == p2[1] && p1[2] == p2[2];
}

SIMD_FORCE_INLINE SimdScalar SimdVector3::distance2(const SimdVector3& v) const
{
	return (v - *this).length2();
}

SIMD_FORCE_INLINE SimdScalar SimdVector3::distance(const SimdVector3& v) const
{
	return (v - *this).length();
}

SIMD_FORCE_INLINE SimdVector3 SimdVector3::normalized() const
{
	return *this / length();
} 

class SimdVector4 : public SimdVector3
{
public:

	SIMD_FORCE_INLINE SimdVector4() {}


	SIMD_FORCE_INLINE SimdVector4(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
		: SimdVector3(x,y,z)
	{
		m_unusedW = w;
	}


	SIMD_FORCE_INLINE SimdVector4 absolute4() const 
	{
		return SimdVector4(
			fabsf(m_x), 
			fabsf(m_y), 
			fabsf(m_z),
			fabsf(m_unusedW));
	}



	float	getW() const { return m_unusedW;}


		SIMD_FORCE_INLINE int maxAxis4() const
	{
		int maxIndex = -1;
		float maxVal = -1e30f;
		if (m_x > maxVal)
		{
			maxIndex = 0;
			maxVal = m_x;
		}
		if (m_y > maxVal)
		{
			maxIndex = 1;
			maxVal = m_y;
		}
		if (m_z > maxVal)
		{
			maxIndex = 2;
			maxVal = m_z;
		}
		if (m_unusedW > maxVal)
		{
			maxIndex = 3;
			maxVal = m_unusedW;
		}
		
		
		

		return maxIndex;

	}


	SIMD_FORCE_INLINE int minAxis4() const
	{
		int minIndex = -1;
		float minVal = 1e30f;
		if (m_x < minVal)
		{
			minIndex = 0;
			minVal = m_x;
		}
		if (m_y < minVal)
		{
			minIndex = 1;
			minVal = m_y;
		}
		if (m_z < minVal)
		{
			minIndex = 2;
			minVal = m_z;
		}
		if (m_unusedW < minVal)
		{
			minIndex = 3;
			minVal = m_unusedW;
		}
		
		return minIndex;

	}


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



};

#endif //SIMD__VECTOR3_H