ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/LinearMath/btVector3.h

@@ -1,766 +0,0 @@
-/*
-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 "btScalar.h"
-#include "btMinMax.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btVector3Data btVector3DoubleData
-#define btVector3DataName "btVector3DoubleData"
-#else
-#define btVector3Data btVector3FloatData
-#define btVector3DataName "btVector3FloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
-
-
-/**@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:
-
-#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__
-#ifdef BT_USE_SSE // _WIN32
-	union {
-		__m128 mVec128;
-		btScalar	m_floats[4];
-	};
-	SIMD_FORCE_INLINE	__m128	get128() const
-	{
-		return mVec128;
-	}
-	SIMD_FORCE_INLINE	void	set128(__m128 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.);
-	}
-
-	
-/**@brief Add a vector to this one 
- * @param The vector to add to this one */
-	SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
-	{
-
-		m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2];
-		return *this;
-	}
-
-
-  /**@brief Subtract a vector from this one
-   * @param The vector to subtract */
-	SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 
-	{
-		m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2];
-		return *this;
-	}
-  /**@brief Scale the vector
-   * @param s Scale factor */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
-	{
-		m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s;
-		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));
-		return *this *= btScalar(1.0) / s;
-	}
-
-  /**@brief Return the dot product
-   * @param v The other vector in the dot product */
-	SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
-	{
-		return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2];
-	}
-
-  /**@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 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() 
-	{
-		return *this /= length();
-	}
-
-  /**@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 
-	{
-		return btVector3(
-			btFabs(m_floats[0]), 
-			btFabs(m_floats[1]), 
-			btFabs(m_floats[2]));
-	}
-  /**@brief Return the cross product between this and another vector 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
-	{
-		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]);
-	}
-
-	SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const
-	{
-		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]);
-	}
-
-  /**@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)
-	{
-		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];
-	}
-
-  /**@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 
-	{
-		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);
-	}
-
-  /**@brief Elementwise multiply this vector by the other 
-   * @param v The other vector */
-	SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
-	{
-		m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2];
-		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
-	{
-		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]));
-	}
-
-	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)
-		{
-			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());
-		}
-  /**@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)
-		{
-			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());
-		}
-
-		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.);
-		}
-
-		void	getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
-		{
-			v0->setValue(0.		,-z()		,y());
-			v1->setValue(z()	,0.			,-x());
-			v2->setValue(-y()	,x()	,0.);
-		}
-
-		void	setZero()
-		{
-			setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-		}
-
-		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_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 Return the sum of two vectors (Point symantics)*/
-SIMD_FORCE_INLINE btVector3 
-operator+(const btVector3& v1, const btVector3& v2) 
-{
-	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]);
-}
-
-/**@brief Return the elementwise product of two vectors */
-SIMD_FORCE_INLINE btVector3 
-operator*(const btVector3& v1, const btVector3& v2) 
-{
-	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]);
-}
-
-/**@brief Return the difference between two vectors */
-SIMD_FORCE_INLINE btVector3 
-operator-(const btVector3& v1, const btVector3& v2)
-{
-	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]);
-}
-/**@brief Return the negative of the vector */
-SIMD_FORCE_INLINE btVector3 
-operator-(const btVector3& v)
-{
-	return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
-}
-
-/**@brief Return the vector scaled by s */
-SIMD_FORCE_INLINE btVector3 
-operator*(const btVector3& v, const btScalar& s)
-{
-	return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s);
-}
-
-/**@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));
-	return v * (btScalar(1.0) / s);
-}
-
-/**@brief Return the vector inversely scaled by s */
-SIMD_FORCE_INLINE btVector3
-operator/(const btVector3& v1, const btVector3& v2)
-{
-	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]);
-}
-
-/**@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
-{
-	return *this / length();
-} 
-
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const
-{
-	// wAxis must be a unit lenght vector
-
-	btVector3 o = wAxis * wAxis.dot( *this );
-	btVector3 x = *this - o;
-	btVector3 y;
-
-	y = wAxis.cross( *this );
-
-	return ( o + x * btCos( angle ) + y * btSin( angle ) );
-}
-
-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;
-	}
-
-
-	SIMD_FORCE_INLINE btVector4 absolute4() const 
-	{
-		return btVector4(
-			btFabs(m_floats[0]), 
-			btFabs(m_floats[1]), 
-			btFabs(m_floats[2]),
-			btFabs(m_floats[3]));
-	}
-
-
-
-	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