ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/vectormath/sse/quat_aos.h

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