ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,579 @@
1
+ /*
2
+ Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
3
+ All rights reserved.
4
+
5
+ Redistribution and use in source and binary forms,
6
+ with or without modification, are permitted provided that the
7
+ following conditions are met:
8
+ * Redistributions of source code must retain the above copyright
9
+ notice, this list of conditions and the following disclaimer.
10
+ * Redistributions in binary form must reproduce the above copyright
11
+ notice, this list of conditions and the following disclaimer in the
12
+ documentation and/or other materials provided with the distribution.
13
+ * Neither the name of the Sony Computer Entertainment Inc nor the names
14
+ of its contributors may be used to endorse or promote products derived
15
+ from this software without specific prior written permission.
16
+
17
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20
+ ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21
+ LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22
+ CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23
+ SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24
+ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25
+ CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26
+ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27
+ POSSIBILITY OF SUCH DAMAGE.
28
+ */
29
+
30
+
31
+ #ifndef _VECTORMATH_QUAT_AOS_CPP_H
32
+ #define _VECTORMATH_QUAT_AOS_CPP_H
33
+
34
+ //-----------------------------------------------------------------------------
35
+ // Definitions
36
+
37
+ #ifndef _VECTORMATH_INTERNAL_FUNCTIONS
38
+ #define _VECTORMATH_INTERNAL_FUNCTIONS
39
+
40
+ #endif
41
+
42
+ namespace Vectormath {
43
+ namespace Aos {
44
+
45
+ VECTORMATH_FORCE_INLINE void Quat::set128(vec_float4 vec)
46
+ {
47
+ mVec128 = vec;
48
+ }
49
+
50
+ VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w )
51
+ {
52
+ mVec128 = _mm_unpacklo_ps(
53
+ _mm_unpacklo_ps( _x.get128(), _z.get128() ),
54
+ _mm_unpacklo_ps( _y.get128(), _w.get128() ) );
55
+ }
56
+
57
+ VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, float _w )
58
+ {
59
+ mVec128 = xyz.get128();
60
+ _vmathVfSetElement(mVec128, _w, 3);
61
+ }
62
+
63
+
64
+
65
+ VECTORMATH_FORCE_INLINE Quat::Quat(const Quat& quat)
66
+ {
67
+ mVec128 = quat.get128();
68
+ }
69
+
70
+ VECTORMATH_FORCE_INLINE Quat::Quat( float _x, float _y, float _z, float _w )
71
+ {
72
+ mVec128 = _mm_setr_ps(_x, _y, _z, _w);
73
+ }
74
+
75
+
76
+
77
+
78
+
79
+ VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, const floatInVec &_w )
80
+ {
81
+ mVec128 = xyz.get128();
82
+ mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
83
+ }
84
+
85
+ VECTORMATH_FORCE_INLINE Quat::Quat( const Vector4 &vec )
86
+ {
87
+ mVec128 = vec.get128();
88
+ }
89
+
90
+ VECTORMATH_FORCE_INLINE Quat::Quat( float scalar )
91
+ {
92
+ mVec128 = floatInVec(scalar).get128();
93
+ }
94
+
95
+ VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &scalar )
96
+ {
97
+ mVec128 = scalar.get128();
98
+ }
99
+
100
+ VECTORMATH_FORCE_INLINE Quat::Quat( __m128 vf4 )
101
+ {
102
+ mVec128 = vf4;
103
+ }
104
+
105
+ VECTORMATH_FORCE_INLINE const Quat Quat::identity( )
106
+ {
107
+ return Quat( _VECTORMATH_UNIT_0001 );
108
+ }
109
+
110
+ VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 )
111
+ {
112
+ return lerp( floatInVec(t), quat0, quat1 );
113
+ }
114
+
115
+ VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 )
116
+ {
117
+ return ( quat0 + ( ( quat1 - quat0 ) * t ) );
118
+ }
119
+
120
+ VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 )
121
+ {
122
+ return slerp( floatInVec(t), unitQuat0, unitQuat1 );
123
+ }
124
+
125
+ VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 )
126
+ {
127
+ Quat start;
128
+ vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
129
+ __m128 selectMask;
130
+ cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
131
+ selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle );
132
+ cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask );
133
+ start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
134
+ selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
135
+ angle = acosf4( cosAngle );
136
+ tttt = t.get128();
137
+ oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt );
138
+ angles = vec_mergeh( _mm_set1_ps(1.0f), tttt );
139
+ angles = vec_mergeh( angles, oneMinusT );
140
+ angles = vec_madd( angles, angle, _mm_setzero_ps() );
141
+ sines = sinf4( angles );
142
+ scales = _mm_div_ps( sines, vec_splat( sines, 0 ) );
143
+ scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask );
144
+ scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask );
145
+ return Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) );
146
+ }
147
+
148
+ VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
149
+ {
150
+ return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 );
151
+ }
152
+
153
+ VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
154
+ {
155
+ return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) );
156
+ }
157
+
158
+ VECTORMATH_FORCE_INLINE __m128 Quat::get128( ) const
159
+ {
160
+ return mVec128;
161
+ }
162
+
163
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat )
164
+ {
165
+ mVec128 = quat.mVec128;
166
+ return *this;
167
+ }
168
+
169
+ VECTORMATH_FORCE_INLINE Quat & Quat::setXYZ( const Vector3 &vec )
170
+ {
171
+ VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
172
+ mVec128 = vec_sel( vec.get128(), mVec128, sw );
173
+ return *this;
174
+ }
175
+
176
+ VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ( ) const
177
+ {
178
+ return Vector3( mVec128 );
179
+ }
180
+
181
+ VECTORMATH_FORCE_INLINE Quat & Quat::setX( float _x )
182
+ {
183
+ _vmathVfSetElement(mVec128, _x, 0);
184
+ return *this;
185
+ }
186
+
187
+ VECTORMATH_FORCE_INLINE Quat & Quat::setX( const floatInVec &_x )
188
+ {
189
+ mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
190
+ return *this;
191
+ }
192
+
193
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::getX( ) const
194
+ {
195
+ return floatInVec( mVec128, 0 );
196
+ }
197
+
198
+ VECTORMATH_FORCE_INLINE Quat & Quat::setY( float _y )
199
+ {
200
+ _vmathVfSetElement(mVec128, _y, 1);
201
+ return *this;
202
+ }
203
+
204
+ VECTORMATH_FORCE_INLINE Quat & Quat::setY( const floatInVec &_y )
205
+ {
206
+ mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
207
+ return *this;
208
+ }
209
+
210
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::getY( ) const
211
+ {
212
+ return floatInVec( mVec128, 1 );
213
+ }
214
+
215
+ VECTORMATH_FORCE_INLINE Quat & Quat::setZ( float _z )
216
+ {
217
+ _vmathVfSetElement(mVec128, _z, 2);
218
+ return *this;
219
+ }
220
+
221
+ VECTORMATH_FORCE_INLINE Quat & Quat::setZ( const floatInVec &_z )
222
+ {
223
+ mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
224
+ return *this;
225
+ }
226
+
227
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ( ) const
228
+ {
229
+ return floatInVec( mVec128, 2 );
230
+ }
231
+
232
+ VECTORMATH_FORCE_INLINE Quat & Quat::setW( float _w )
233
+ {
234
+ _vmathVfSetElement(mVec128, _w, 3);
235
+ return *this;
236
+ }
237
+
238
+ VECTORMATH_FORCE_INLINE Quat & Quat::setW( const floatInVec &_w )
239
+ {
240
+ mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
241
+ return *this;
242
+ }
243
+
244
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::getW( ) const
245
+ {
246
+ return floatInVec( mVec128, 3 );
247
+ }
248
+
249
+ VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, float value )
250
+ {
251
+ _vmathVfSetElement(mVec128, value, idx);
252
+ return *this;
253
+ }
254
+
255
+ VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, const floatInVec &value )
256
+ {
257
+ mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
258
+ return *this;
259
+ }
260
+
261
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem( int idx ) const
262
+ {
263
+ return floatInVec( mVec128, idx );
264
+ }
265
+
266
+ VECTORMATH_FORCE_INLINE VecIdx Quat::operator []( int idx )
267
+ {
268
+ return VecIdx( mVec128, idx );
269
+ }
270
+
271
+ VECTORMATH_FORCE_INLINE const floatInVec Quat::operator []( int idx ) const
272
+ {
273
+ return floatInVec( mVec128, idx );
274
+ }
275
+
276
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator +( const Quat &quat ) const
277
+ {
278
+ return Quat( _mm_add_ps( mVec128, quat.mVec128 ) );
279
+ }
280
+
281
+
282
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator -( const Quat &quat ) const
283
+ {
284
+ return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) );
285
+ }
286
+
287
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator *( float scalar ) const
288
+ {
289
+ return *this * floatInVec(scalar);
290
+ }
291
+
292
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const floatInVec &scalar ) const
293
+ {
294
+ return Quat( _mm_mul_ps( mVec128, scalar.get128() ) );
295
+ }
296
+
297
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat )
298
+ {
299
+ *this = *this + quat;
300
+ return *this;
301
+ }
302
+
303
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat )
304
+ {
305
+ *this = *this - quat;
306
+ return *this;
307
+ }
308
+
309
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( float scalar )
310
+ {
311
+ *this = *this * scalar;
312
+ return *this;
313
+ }
314
+
315
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const floatInVec &scalar )
316
+ {
317
+ *this = *this * scalar;
318
+ return *this;
319
+ }
320
+
321
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator /( float scalar ) const
322
+ {
323
+ return *this / floatInVec(scalar);
324
+ }
325
+
326
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator /( const floatInVec &scalar ) const
327
+ {
328
+ return Quat( _mm_div_ps( mVec128, scalar.get128() ) );
329
+ }
330
+
331
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( float scalar )
332
+ {
333
+ *this = *this / scalar;
334
+ return *this;
335
+ }
336
+
337
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( const floatInVec &scalar )
338
+ {
339
+ *this = *this / scalar;
340
+ return *this;
341
+ }
342
+
343
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator -( ) const
344
+ {
345
+ return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );
346
+ }
347
+
348
+ VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat )
349
+ {
350
+ return floatInVec(scalar) * quat;
351
+ }
352
+
353
+ VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat )
354
+ {
355
+ return quat * scalar;
356
+ }
357
+
358
+ VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 )
359
+ {
360
+ return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
361
+ }
362
+
363
+ VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat )
364
+ {
365
+ return floatInVec( _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
366
+ }
367
+
368
+ VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat )
369
+ {
370
+ return floatInVec( _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 );
371
+ }
372
+
373
+ VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat )
374
+ {
375
+ vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128());
376
+ return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) );
377
+ }
378
+
379
+
380
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 )
381
+ {
382
+ Vector3 crossVec;
383
+ __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
384
+ cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
385
+ cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) );
386
+ recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 );
387
+ cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
388
+ crossVec = cross( unitVec0, unitVec1 );
389
+ res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 );
390
+ VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
391
+ res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw );
392
+ return Quat( res );
393
+ }
394
+
395
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotation( float radians, const Vector3 &unitVec )
396
+ {
397
+ return rotation( floatInVec(radians), unitVec );
398
+ }
399
+
400
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec )
401
+ {
402
+ __m128 s, c, angle, res;
403
+ angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
404
+ sincosf4( angle, &s, &c );
405
+ VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
406
+ res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw );
407
+ return Quat( res );
408
+ }
409
+
410
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians )
411
+ {
412
+ return rotationX( floatInVec(radians) );
413
+ }
414
+
415
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const floatInVec &radians )
416
+ {
417
+ __m128 s, c, angle, res;
418
+ angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
419
+ sincosf4( angle, &s, &c );
420
+ VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0xffffffff, 0, 0, 0};
421
+ VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
422
+ res = vec_sel( _mm_setzero_ps(), s, xsw );
423
+ res = vec_sel( res, c, wsw );
424
+ return Quat( res );
425
+ }
426
+
427
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( float radians )
428
+ {
429
+ return rotationY( floatInVec(radians) );
430
+ }
431
+
432
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const floatInVec &radians )
433
+ {
434
+ __m128 s, c, angle, res;
435
+ angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
436
+ sincosf4( angle, &s, &c );
437
+ VM_ATTRIBUTE_ALIGN16 unsigned int ysw[4] = {0, 0xffffffff, 0, 0};
438
+ VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
439
+ res = vec_sel( _mm_setzero_ps(), s, ysw );
440
+ res = vec_sel( res, c, wsw );
441
+ return Quat( res );
442
+ }
443
+
444
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( float radians )
445
+ {
446
+ return rotationZ( floatInVec(radians) );
447
+ }
448
+
449
+ VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const floatInVec &radians )
450
+ {
451
+ __m128 s, c, angle, res;
452
+ angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
453
+ sincosf4( angle, &s, &c );
454
+ VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0, 0, 0xffffffff, 0};
455
+ VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
456
+ res = vec_sel( _mm_setzero_ps(), s, zsw );
457
+ res = vec_sel( res, c, wsw );
458
+ return Quat( res );
459
+ }
460
+
461
+ VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const Quat &quat ) const
462
+ {
463
+ __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
464
+ __m128 product, l_wxyz, r_wxyz, xy, qw;
465
+ ldata = mVec128;
466
+ rdata = quat.mVec128;
467
+ tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) );
468
+ tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) );
469
+ tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) );
470
+ tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) );
471
+ qv = vec_mul( vec_splat( ldata, 3 ), rdata );
472
+ qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv );
473
+ qv = vec_madd( tmp0, tmp1, qv );
474
+ qv = vec_nmsub( tmp2, tmp3, qv );
475
+ product = vec_mul( ldata, rdata );
476
+ l_wxyz = vec_sld( ldata, ldata, 12 );
477
+ r_wxyz = vec_sld( rdata, rdata, 12 );
478
+ qw = vec_nmsub( l_wxyz, r_wxyz, product );
479
+ xy = vec_madd( l_wxyz, r_wxyz, product );
480
+ qw = vec_sub( qw, vec_sld( xy, xy, 8 ) );
481
+ VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
482
+ return Quat( vec_sel( qv, qw, sw ) );
483
+ }
484
+
485
+ VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat )
486
+ {
487
+ *this = *this * quat;
488
+ return *this;
489
+ }
490
+
491
+ VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &quat, const Vector3 &vec )
492
+ { __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
493
+ qdata = quat.get128();
494
+ vdata = vec.get128();
495
+ tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) );
496
+ tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) );
497
+ tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) );
498
+ tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) );
499
+ wwww = vec_splat( qdata, 3 );
500
+ qv = vec_mul( wwww, vdata );
501
+ qv = vec_madd( tmp0, tmp1, qv );
502
+ qv = vec_nmsub( tmp2, tmp3, qv );
503
+ product = vec_mul( qdata, vdata );
504
+ qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product );
505
+ qw = vec_add( vec_sld( product, product, 8 ), qw );
506
+ tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) );
507
+ tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) );
508
+ res = vec_mul( vec_splat( qw, 0 ), qdata );
509
+ res = vec_madd( wwww, qv, res );
510
+ res = vec_madd( tmp0, tmp1, res );
511
+ res = vec_nmsub( tmp2, tmp3, res );
512
+ return Vector3( res );
513
+ }
514
+
515
+ VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat )
516
+ {
517
+ VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0};
518
+ return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) );
519
+ }
520
+
521
+ VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 )
522
+ {
523
+ return select( quat0, quat1, boolInVec(select1) );
524
+ }
525
+
526
+ //VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 )
527
+ //{
528
+ // return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) );
529
+ //}
530
+
531
+ VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr)
532
+ {
533
+ #ifdef USE_SSE3_LDDQU
534
+ quat = Quat( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 );
535
+ #else
536
+ SSEFloat fl;
537
+ fl.f[0] = fptr[0];
538
+ fl.f[1] = fptr[1];
539
+ fl.f[2] = fptr[2];
540
+ fl.f[3] = fptr[3];
541
+ quat = Quat( fl.m128);
542
+ #endif
543
+
544
+
545
+ }
546
+
547
+ VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr)
548
+ {
549
+ fptr[0] = quat.getX();
550
+ fptr[1] = quat.getY();
551
+ fptr[2] = quat.getZ();
552
+ fptr[3] = quat.getW();
553
+ // _mm_storeu_ps((float*)quat.get128(),fptr);
554
+ }
555
+
556
+
557
+
558
+ #ifdef _VECTORMATH_DEBUG
559
+
560
+ VECTORMATH_FORCE_INLINE void print( const Quat &quat )
561
+ {
562
+ union { __m128 v; float s[4]; } tmp;
563
+ tmp.v = quat.get128();
564
+ printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
565
+ }
566
+
567
+ VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name )
568
+ {
569
+ union { __m128 v; float s[4]; } tmp;
570
+ tmp.v = quat.get128();
571
+ printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
572
+ }
573
+
574
+ #endif
575
+
576
+ } // namespace Aos
577
+ } // namespace Vectormath
578
+
579
+ #endif