@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Math/Vec4.inl

@@ -0,0 +1,1152 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Math/Trigonometry.h>
+#include <Jolt/Math/Vec3.h>
+#include <Jolt/Math/UVec4.h>
+
+JPH_NAMESPACE_BEGIN
+
+// Constructor
+Vec4::Vec4(Vec3Arg inRHS) :
+	mValue(inRHS.mValue)
+{
+}
+
+Vec4::Vec4(Vec3Arg inRHS, float inW)
+{
+#if defined(JPH_USE_SSE4_1)
+	mValue = _mm_blend_ps(inRHS.mValue, _mm_set1_ps(inW), 8);
+#elif defined(JPH_USE_NEON)
+	mValue = vsetq_lane_f32(inW, inRHS.mValue, 3);
+#else
+	for (int i = 0; i < 3; i++)
+		mF32[i] = inRHS.mF32[i];
+	mF32[3] = inW;
+#endif
+}
+
+Vec4::Vec4(float inX, float inY, float inZ, float inW)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_set_ps(inW, inZ, inY, inX);
+#elif defined(JPH_USE_NEON)
+	uint32x2_t xy = vcreate_u32(static_cast<uint64>(BitCast<uint32>(inX)) | (static_cast<uint64>(BitCast<uint32>(inY)) << 32));
+	uint32x2_t zw = vcreate_u32(static_cast<uint64>(BitCast<uint32>(inZ)) | (static_cast<uint64>(BitCast<uint32>(inW)) << 32));
+	mValue = vreinterpretq_f32_u32(vcombine_u32(xy, zw));
+#else
+	mF32[0] = inX;
+	mF32[1] = inY;
+	mF32[2] = inZ;
+	mF32[3] = inW;
+#endif
+}
+
+template<uint32 SwizzleX, uint32 SwizzleY, uint32 SwizzleZ, uint32 SwizzleW>
+Vec4 Vec4::Swizzle() const
+{
+	static_assert(SwizzleX <= 3, "SwizzleX template parameter out of range");
+	static_assert(SwizzleY <= 3, "SwizzleY template parameter out of range");
+	static_assert(SwizzleZ <= 3, "SwizzleZ template parameter out of range");
+	static_assert(SwizzleW <= 3, "SwizzleW template parameter out of range");
+
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(SwizzleW, SwizzleZ, SwizzleY, SwizzleX));
+#elif defined(JPH_USE_NEON)
+	return JPH_NEON_SHUFFLE_F32x4(mValue, mValue, SwizzleX, SwizzleY, SwizzleZ, SwizzleW);
+#else
+	return Vec4(mF32[SwizzleX], mF32[SwizzleY], mF32[SwizzleZ], mF32[SwizzleW]);
+#endif
+}
+
+Vec4 Vec4::sZero()
+{
+#if defined(JPH_USE_SSE)
+	return _mm_setzero_ps();
+#elif defined(JPH_USE_NEON)
+	return vdupq_n_f32(0);
+#else
+	return Vec4(0, 0, 0, 0);
+#endif
+}
+
+Vec4 Vec4::sReplicate(float inV)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_set1_ps(inV);
+#elif defined(JPH_USE_NEON)
+	return vdupq_n_f32(inV);
+#else
+	return Vec4(inV, inV, inV, inV);
+#endif
+}
+
+Vec4 Vec4::sOne()
+{
+	return sReplicate(1.0f);
+}
+
+Vec4 Vec4::sNaN()
+{
+	return sReplicate(numeric_limits<float>::quiet_NaN());
+}
+
+Vec4 Vec4::sLoadFloat4(const Float4 *inV)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_loadu_ps(&inV->x);
+#elif defined(JPH_USE_NEON)
+	return vld1q_f32(&inV->x);
+#else
+	return Vec4(inV->x, inV->y, inV->z, inV->w);
+#endif
+}
+
+Vec4 Vec4::sLoadFloat4Aligned(const Float4 *inV)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_load_ps(&inV->x);
+#elif defined(JPH_USE_NEON)
+	return vld1q_f32(&inV->x);
+#else
+	return Vec4(inV->x, inV->y, inV->z, inV->w);
+#endif
+}
+
+template <const int Scale>
+Vec4 Vec4::sGatherFloat4(const float *inBase, UVec4Arg inOffsets)
+{
+#if defined(JPH_USE_SSE)
+	#ifdef JPH_USE_AVX2
+		return _mm_i32gather_ps(inBase, inOffsets.mValue, Scale);
+	#else
+		const uint8 *base = reinterpret_cast<const uint8 *>(inBase);
+		Type x = _mm_load_ss(reinterpret_cast<const float *>(base + inOffsets.GetX() * Scale));
+		Type y = _mm_load_ss(reinterpret_cast<const float *>(base + inOffsets.GetY() * Scale));
+		Type xy = _mm_unpacklo_ps(x, y);
+		Type z = _mm_load_ss(reinterpret_cast<const float *>(base + inOffsets.GetZ() * Scale));
+		Type w = _mm_load_ss(reinterpret_cast<const float *>(base + inOffsets.GetW() * Scale));
+		Type zw = _mm_unpacklo_ps(z, w);
+		return _mm_movelh_ps(xy, zw);
+	#endif
+#else
+	const uint8 *base = reinterpret_cast<const uint8 *>(inBase);
+	float x = *reinterpret_cast<const float *>(base + inOffsets.GetX() * Scale);
+	float y = *reinterpret_cast<const float *>(base + inOffsets.GetY() * Scale);
+	float z = *reinterpret_cast<const float *>(base + inOffsets.GetZ() * Scale);
+	float w = *reinterpret_cast<const float *>(base + inOffsets.GetW() * Scale);
+	return Vec4(x, y, z, w);
+#endif
+}
+
+Vec4 Vec4::sMin(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_min_ps(inV1.mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vminq_f32(inV1.mValue, inV2.mValue);
+#else
+	return Vec4(min(inV1.mF32[0], inV2.mF32[0]),
+				min(inV1.mF32[1], inV2.mF32[1]),
+				min(inV1.mF32[2], inV2.mF32[2]),
+				min(inV1.mF32[3], inV2.mF32[3]));
+#endif
+}
+
+Vec4 Vec4::sMax(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_max_ps(inV1.mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vmaxq_f32(inV1.mValue, inV2.mValue);
+#else
+	return Vec4(max(inV1.mF32[0], inV2.mF32[0]),
+				max(inV1.mF32[1], inV2.mF32[1]),
+				max(inV1.mF32[2], inV2.mF32[2]),
+				max(inV1.mF32[3], inV2.mF32[3]));
+#endif
+}
+
+Vec4 Vec4::sClamp(Vec4Arg inV, Vec4Arg inMin, Vec4Arg inMax)
+{
+	return sMax(sMin(inV, inMax), inMin);
+}
+
+UVec4 Vec4::sEquals(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_castps_si128(_mm_cmpeq_ps(inV1.mValue, inV2.mValue));
+#elif defined(JPH_USE_NEON)
+	return vceqq_f32(inV1.mValue, inV2.mValue);
+#else
+	return UVec4(inV1.mF32[0] == inV2.mF32[0]? 0xffffffffu : 0,
+				 inV1.mF32[1] == inV2.mF32[1]? 0xffffffffu : 0,
+				 inV1.mF32[2] == inV2.mF32[2]? 0xffffffffu : 0,
+				 inV1.mF32[3] == inV2.mF32[3]? 0xffffffffu : 0);
+#endif
+}
+
+UVec4 Vec4::sLess(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_castps_si128(_mm_cmplt_ps(inV1.mValue, inV2.mValue));
+#elif defined(JPH_USE_NEON)
+	return vcltq_f32(inV1.mValue, inV2.mValue);
+#else
+	return UVec4(inV1.mF32[0] < inV2.mF32[0]? 0xffffffffu : 0,
+				 inV1.mF32[1] < inV2.mF32[1]? 0xffffffffu : 0,
+				 inV1.mF32[2] < inV2.mF32[2]? 0xffffffffu : 0,
+				 inV1.mF32[3] < inV2.mF32[3]? 0xffffffffu : 0);
+#endif
+}
+
+UVec4 Vec4::sLessOrEqual(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_castps_si128(_mm_cmple_ps(inV1.mValue, inV2.mValue));
+#elif defined(JPH_USE_NEON)
+	return vcleq_f32(inV1.mValue, inV2.mValue);
+#else
+	return UVec4(inV1.mF32[0] <= inV2.mF32[0]? 0xffffffffu : 0,
+				 inV1.mF32[1] <= inV2.mF32[1]? 0xffffffffu : 0,
+				 inV1.mF32[2] <= inV2.mF32[2]? 0xffffffffu : 0,
+				 inV1.mF32[3] <= inV2.mF32[3]? 0xffffffffu : 0);
+#endif
+}
+
+UVec4 Vec4::sGreater(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_castps_si128(_mm_cmpgt_ps(inV1.mValue, inV2.mValue));
+#elif defined(JPH_USE_NEON)
+	return vcgtq_f32(inV1.mValue, inV2.mValue);
+#else
+	return UVec4(inV1.mF32[0] > inV2.mF32[0]? 0xffffffffu : 0,
+				 inV1.mF32[1] > inV2.mF32[1]? 0xffffffffu : 0,
+				 inV1.mF32[2] > inV2.mF32[2]? 0xffffffffu : 0,
+				 inV1.mF32[3] > inV2.mF32[3]? 0xffffffffu : 0);
+#endif
+}
+
+UVec4 Vec4::sGreaterOrEqual(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_castps_si128(_mm_cmpge_ps(inV1.mValue, inV2.mValue));
+#elif defined(JPH_USE_NEON)
+	return vcgeq_f32(inV1.mValue, inV2.mValue);
+#else
+	return UVec4(inV1.mF32[0] >= inV2.mF32[0]? 0xffffffffu : 0,
+				 inV1.mF32[1] >= inV2.mF32[1]? 0xffffffffu : 0,
+				 inV1.mF32[2] >= inV2.mF32[2]? 0xffffffffu : 0,
+				 inV1.mF32[3] >= inV2.mF32[3]? 0xffffffffu : 0);
+#endif
+}
+
+Vec4 Vec4::sFusedMultiplyAdd(Vec4Arg inMul1, Vec4Arg inMul2, Vec4Arg inAdd)
+{
+#if defined(JPH_USE_SSE)
+	#ifdef JPH_USE_FMADD
+		return _mm_fmadd_ps(inMul1.mValue, inMul2.mValue, inAdd.mValue);
+	#else
+		return _mm_add_ps(_mm_mul_ps(inMul1.mValue, inMul2.mValue), inAdd.mValue);
+	#endif
+#elif defined(JPH_USE_NEON)
+	return vmlaq_f32(inAdd.mValue, inMul1.mValue, inMul2.mValue);
+#else
+	return Vec4(inMul1.mF32[0] * inMul2.mF32[0] + inAdd.mF32[0],
+				inMul1.mF32[1] * inMul2.mF32[1] + inAdd.mF32[1],
+				inMul1.mF32[2] * inMul2.mF32[2] + inAdd.mF32[2],
+				inMul1.mF32[3] * inMul2.mF32[3] + inAdd.mF32[3]);
+#endif
+}
+
+Vec4 Vec4::sSelect(Vec4Arg inNotSet, Vec4Arg inSet, UVec4Arg inControl)
+{
+#if defined(JPH_USE_SSE4_1) && !defined(JPH_PLATFORM_WASM) // _mm_blendv_ps has problems on FireFox
+	return _mm_blendv_ps(inNotSet.mValue, inSet.mValue, _mm_castsi128_ps(inControl.mValue));
+#elif defined(JPH_USE_SSE)
+	__m128 is_set = _mm_castsi128_ps(_mm_srai_epi32(inControl.mValue, 31));
+	return _mm_or_ps(_mm_and_ps(is_set, inSet.mValue), _mm_andnot_ps(is_set, inNotSet.mValue));
+#elif defined(JPH_USE_NEON)
+	return vbslq_f32(vreinterpretq_u32_s32(vshrq_n_s32(vreinterpretq_s32_u32(inControl.mValue), 31)), inSet.mValue, inNotSet.mValue);
+#else
+	Vec4 result;
+	for (int i = 0; i < 4; i++)
+		result.mF32[i] = (inControl.mU32[i] & 0x80000000u) ? inSet.mF32[i] : inNotSet.mF32[i];
+	return result;
+#endif
+}
+
+Vec4 Vec4::sOr(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_or_ps(inV1.mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(inV1.mValue), vreinterpretq_u32_f32(inV2.mValue)));
+#else
+	return UVec4::sOr(inV1.ReinterpretAsInt(), inV2.ReinterpretAsInt()).ReinterpretAsFloat();
+#endif
+}
+
+Vec4 Vec4::sXor(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_xor_ps(inV1.mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(inV1.mValue), vreinterpretq_u32_f32(inV2.mValue)));
+#else
+	return UVec4::sXor(inV1.ReinterpretAsInt(), inV2.ReinterpretAsInt()).ReinterpretAsFloat();
+#endif
+}
+
+Vec4 Vec4::sAnd(Vec4Arg inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_and_ps(inV1.mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(inV1.mValue), vreinterpretq_u32_f32(inV2.mValue)));
+#else
+	return UVec4::sAnd(inV1.ReinterpretAsInt(), inV2.ReinterpretAsInt()).ReinterpretAsFloat();
+#endif
+}
+
+void Vec4::sSort4(Vec4 &ioValue, UVec4 &ioIndex)
+{
+	// Pass 1, test 1st vs 3rd, 2nd vs 4th
+	Vec4 v1 = ioValue.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>();
+	UVec4 i1 = ioIndex.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>();
+	UVec4 c1 = sLess(ioValue, v1).Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_Z, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v1, c1);
+	ioIndex = UVec4::sSelect(ioIndex, i1, c1);
+
+	// Pass 2, test 1st vs 2nd, 3rd vs 4th
+	Vec4 v2 = ioValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>();
+	UVec4 i2 = ioIndex.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>();
+	UVec4 c2 = sLess(ioValue, v2).Swizzle<SWIZZLE_Y, SWIZZLE_Y, SWIZZLE_W, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v2, c2);
+	ioIndex = UVec4::sSelect(ioIndex, i2, c2);
+
+	// Pass 3, test 2nd vs 3rd component
+	Vec4 v3 = ioValue.Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_W>();
+	UVec4 i3 = ioIndex.Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_W>();
+	UVec4 c3 = sLess(ioValue, v3).Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Z, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v3, c3);
+	ioIndex = UVec4::sSelect(ioIndex, i3, c3);
+}
+
+void Vec4::sSort4Reverse(Vec4 &ioValue, UVec4 &ioIndex)
+{
+	// Pass 1, test 1st vs 3rd, 2nd vs 4th
+	Vec4 v1 = ioValue.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>();
+	UVec4 i1 = ioIndex.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>();
+	UVec4 c1 = sGreater(ioValue, v1).Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_Z, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v1, c1);
+	ioIndex = UVec4::sSelect(ioIndex, i1, c1);
+
+	// Pass 2, test 1st vs 2nd, 3rd vs 4th
+	Vec4 v2 = ioValue.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>();
+	UVec4 i2 = ioIndex.Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>();
+	UVec4 c2 = sGreater(ioValue, v2).Swizzle<SWIZZLE_Y, SWIZZLE_Y, SWIZZLE_W, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v2, c2);
+	ioIndex = UVec4::sSelect(ioIndex, i2, c2);
+
+	// Pass 3, test 2nd vs 3rd component
+	Vec4 v3 = ioValue.Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_W>();
+	UVec4 i3 = ioIndex.Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Y, SWIZZLE_W>();
+	UVec4 c3 = sGreater(ioValue, v3).Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_Z, SWIZZLE_W>();
+	ioValue = sSelect(ioValue, v3, c3);
+	ioIndex = UVec4::sSelect(ioIndex, i3, c3);
+}
+
+bool Vec4::operator == (Vec4Arg inV2) const
+{
+	return sEquals(*this, inV2).TestAllTrue();
+}
+
+bool Vec4::IsClose(Vec4Arg inV2, float inMaxDistSq) const
+{
+	return (inV2 - *this).LengthSq() <= inMaxDistSq;
+}
+
+bool Vec4::IsNearZero(float inMaxDistSq) const
+{
+	return LengthSq() <= inMaxDistSq;
+}
+
+bool Vec4::IsNormalized(float inTolerance) const
+{
+	return abs(LengthSq() - 1.0f) <= inTolerance;
+}
+
+bool Vec4::IsNaN() const
+{
+#if defined(JPH_USE_AVX512)
+	return _mm_fpclass_ps_mask(mValue, 0b10000001) != 0;
+#elif defined(JPH_USE_SSE)
+	return _mm_movemask_ps(_mm_cmpunord_ps(mValue, mValue)) != 0;
+#elif defined(JPH_USE_NEON)
+	uint32x4_t is_equal = vceqq_f32(mValue, mValue); // If a number is not equal to itself it's a NaN
+	return vaddvq_u32(vshrq_n_u32(is_equal, 31)) != 4;
+#else
+	return isnan(mF32[0]) || isnan(mF32[1]) || isnan(mF32[2]) || isnan(mF32[3]);
+#endif
+}
+
+Vec4 Vec4::operator * (Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_mul_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vmulq_f32(mValue, inV2.mValue);
+#else
+	return Vec4(mF32[0] * inV2.mF32[0],
+				mF32[1] * inV2.mF32[1],
+				mF32[2] * inV2.mF32[2],
+				mF32[3] * inV2.mF32[3]);
+#endif
+}
+
+Vec4 Vec4::operator * (float inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_mul_ps(mValue, _mm_set1_ps(inV2));
+#elif defined(JPH_USE_NEON)
+	return vmulq_n_f32(mValue, inV2);
+#else
+	return Vec4(mF32[0] * inV2, mF32[1] * inV2, mF32[2] * inV2, mF32[3] * inV2);
+#endif
+}
+
+/// Multiply vector with float
+Vec4 operator * (float inV1, Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	return _mm_mul_ps(_mm_set1_ps(inV1), inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vmulq_n_f32(inV2.mValue, inV1);
+#else
+	return Vec4(inV1 * inV2.mF32[0],
+				inV1 * inV2.mF32[1],
+				inV1 * inV2.mF32[2],
+				inV1 * inV2.mF32[3]);
+#endif
+}
+
+Vec4 Vec4::operator / (float inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_div_ps(mValue, _mm_set1_ps(inV2));
+#elif defined(JPH_USE_NEON)
+	return vdivq_f32(mValue, vdupq_n_f32(inV2));
+#else
+	return Vec4(mF32[0] / inV2, mF32[1] / inV2, mF32[2] / inV2, mF32[3] / inV2);
+#endif
+}
+
+Vec4 &Vec4::operator *= (float inV2)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_mul_ps(mValue, _mm_set1_ps(inV2));
+#elif defined(JPH_USE_NEON)
+	mValue = vmulq_n_f32(mValue, inV2);
+#else
+	for (int i = 0; i < 4; ++i)
+		mF32[i] *= inV2;
+#endif
+	return *this;
+}
+
+Vec4 &Vec4::operator *= (Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_mul_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	mValue = vmulq_f32(mValue, inV2.mValue);
+#else
+	for (int i = 0; i < 4; ++i)
+		mF32[i] *= inV2.mF32[i];
+#endif
+	return *this;
+}
+
+Vec4 &Vec4::operator /= (float inV2)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_div_ps(mValue, _mm_set1_ps(inV2));
+#elif defined(JPH_USE_NEON)
+	mValue = vdivq_f32(mValue, vdupq_n_f32(inV2));
+#else
+	for (int i = 0; i < 4; ++i)
+		mF32[i] /= inV2;
+#endif
+	return *this;
+}
+
+Vec4 Vec4::operator + (Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_add_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vaddq_f32(mValue, inV2.mValue);
+#else
+	return Vec4(mF32[0] + inV2.mF32[0],
+				mF32[1] + inV2.mF32[1],
+				mF32[2] + inV2.mF32[2],
+				mF32[3] + inV2.mF32[3]);
+#endif
+}
+
+Vec4 &Vec4::operator += (Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_add_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	mValue = vaddq_f32(mValue, inV2.mValue);
+#else
+	for (int i = 0; i < 4; ++i)
+		mF32[i] += inV2.mF32[i];
+#endif
+	return *this;
+}
+
+Vec4 Vec4::operator - () const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_sub_ps(_mm_setzero_ps(), mValue);
+#elif defined(JPH_USE_NEON)
+	#ifdef JPH_CROSS_PLATFORM_DETERMINISTIC
+		return vsubq_f32(vdupq_n_f32(0), mValue);
+	#else
+		return vnegq_f32(mValue);
+	#endif
+#else
+	#ifdef JPH_CROSS_PLATFORM_DETERMINISTIC
+		return Vec4(0.0f - mF32[0], 0.0f - mF32[1], 0.0f - mF32[2], 0.0f - mF32[3]);
+	#else
+		return Vec4(-mF32[0], -mF32[1], -mF32[2], -mF32[3]);
+	#endif
+#endif
+}
+
+Vec4 Vec4::operator - (Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_sub_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vsubq_f32(mValue, inV2.mValue);
+#else
+	return Vec4(mF32[0] - inV2.mF32[0],
+				mF32[1] - inV2.mF32[1],
+				mF32[2] - inV2.mF32[2],
+				mF32[3] - inV2.mF32[3]);
+#endif
+}
+
+Vec4 &Vec4::operator -= (Vec4Arg inV2)
+{
+#if defined(JPH_USE_SSE)
+	mValue = _mm_sub_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	mValue = vsubq_f32(mValue, inV2.mValue);
+#else
+	for (int i = 0; i < 4; ++i)
+		mF32[i] -= inV2.mF32[i];
+#endif
+	return *this;
+}
+
+Vec4 Vec4::operator / (Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_div_ps(mValue, inV2.mValue);
+#elif defined(JPH_USE_NEON)
+	return vdivq_f32(mValue, inV2.mValue);
+#else
+	return Vec4(mF32[0] / inV2.mF32[0],
+				mF32[1] / inV2.mF32[1],
+				mF32[2] / inV2.mF32[2],
+				mF32[3] / inV2.mF32[3]);
+#endif
+}
+
+Vec4 Vec4::SplatX() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(0, 0, 0, 0));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 0);
+#else
+	return Vec4(mF32[0], mF32[0], mF32[0], mF32[0]);
+#endif
+}
+
+Vec4 Vec4::SplatY() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(1, 1, 1, 1));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 1);
+#else
+	return Vec4(mF32[1], mF32[1], mF32[1], mF32[1]);
+#endif
+}
+
+Vec4 Vec4::SplatZ() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(2, 2, 2, 2));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 2);
+#else
+	return Vec4(mF32[2], mF32[2], mF32[2], mF32[2]);
+#endif
+}
+
+Vec4 Vec4::SplatW() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(3, 3, 3, 3));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 3);
+#else
+	return Vec4(mF32[3], mF32[3], mF32[3], mF32[3]);
+#endif
+}
+
+Vec3 Vec4::SplatX3() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(0, 0, 0, 0));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 0);
+#else
+	return Vec3(mF32[0], mF32[0], mF32[0]);
+#endif
+}
+
+Vec3 Vec4::SplatY3() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(1, 1, 1, 1));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 1);
+#else
+	return Vec3(mF32[1], mF32[1], mF32[1]);
+#endif
+}
+
+Vec3 Vec4::SplatZ3() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(2, 2, 2, 2));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 2);
+#else
+	return Vec3(mF32[2], mF32[2], mF32[2]);
+#endif
+}
+
+Vec3 Vec4::SplatW3() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_shuffle_ps(mValue, mValue, _MM_SHUFFLE(3, 3, 3, 3));
+#elif defined(JPH_USE_NEON)
+	return vdupq_laneq_f32(mValue, 3);
+#else
+	return Vec3(mF32[3], mF32[3], mF32[3]);
+#endif
+}
+
+int Vec4::GetLowestComponentIndex() const
+{
+	// Get the minimum value in all 4 components
+	Vec4 value = Vec4::sMin(*this, Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>());
+	value = Vec4::sMin(value, value.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>());
+
+	// Compare with the original vector to find which component is equal to the minimum value
+	return CountTrailingZeros(Vec4::sEquals(*this, value).GetTrues());
+}
+
+int Vec4::GetHighestComponentIndex() const
+{
+	// Get the maximum value in all 4 components
+	Vec4 value = Vec4::sMax(*this, Swizzle<SWIZZLE_Y, SWIZZLE_X, SWIZZLE_W, SWIZZLE_Z>());
+	value = Vec4::sMax(value, value.Swizzle<SWIZZLE_Z, SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y>());
+
+	// Compare with the original vector to find which component is equal to the maximum value
+	return CountTrailingZeros(Vec4::sEquals(*this, value).GetTrues());
+}
+
+Vec4 Vec4::Abs() const
+{
+#if defined(JPH_USE_AVX512)
+	return _mm_range_ps(mValue, mValue, 0b1000);
+#elif defined(JPH_USE_SSE)
+	return _mm_max_ps(_mm_sub_ps(_mm_setzero_ps(), mValue), mValue);
+#elif defined(JPH_USE_NEON)
+	return vabsq_f32(mValue);
+#else
+	return Vec4(abs(mF32[0]), abs(mF32[1]), abs(mF32[2]), abs(mF32[3]));
+#endif
+}
+
+Vec4 Vec4::Reciprocal() const
+{
+	return sOne() / mValue;
+}
+
+Vec4 Vec4::DotV(Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE4_1)
+	return _mm_dp_ps(mValue, inV2.mValue, 0xff);
+#elif defined(JPH_USE_NEON)
+	float32x4_t mul = vmulq_f32(mValue, inV2.mValue);
+	return vdupq_n_f32(vaddvq_f32(mul));
+#else
+	// Brackets placed so that the order is consistent with the vectorized version
+	return Vec4::sReplicate((mF32[0] * inV2.mF32[0] + mF32[1] * inV2.mF32[1]) + (mF32[2] * inV2.mF32[2] + mF32[3] * inV2.mF32[3]));
+#endif
+}
+
+float Vec4::Dot(Vec4Arg inV2) const
+{
+#if defined(JPH_USE_SSE4_1)
+	return _mm_cvtss_f32(_mm_dp_ps(mValue, inV2.mValue, 0xff));
+#elif defined(JPH_USE_NEON)
+	float32x4_t mul = vmulq_f32(mValue, inV2.mValue);
+	return vaddvq_f32(mul);
+#else
+	// Brackets placed so that the order is consistent with the vectorized version
+	return (mF32[0] * inV2.mF32[0] + mF32[1] * inV2.mF32[1]) + (mF32[2] * inV2.mF32[2] + mF32[3] * inV2.mF32[3]);
+#endif
+}
+
+float Vec4::LengthSq() const
+{
+#if defined(JPH_USE_SSE4_1)
+	return _mm_cvtss_f32(_mm_dp_ps(mValue, mValue, 0xff));
+#elif defined(JPH_USE_NEON)
+	float32x4_t mul = vmulq_f32(mValue, mValue);
+	return vaddvq_f32(mul);
+#else
+	// Brackets placed so that the order is consistent with the vectorized version
+	return (mF32[0] * mF32[0] + mF32[1] * mF32[1]) + (mF32[2] * mF32[2] + mF32[3] * mF32[3]);
+#endif
+}
+
+float Vec4::Length() const
+{
+#if defined(JPH_USE_SSE4_1)
+	return _mm_cvtss_f32(_mm_sqrt_ss(_mm_dp_ps(mValue, mValue, 0xff)));
+#elif defined(JPH_USE_NEON)
+	float32x4_t mul = vmulq_f32(mValue, mValue);
+	float32x2_t sum = vdup_n_f32(vaddvq_f32(mul));
+	return vget_lane_f32(vsqrt_f32(sum), 0);
+#else
+	// Brackets placed so that the order is consistent with the vectorized version
+	return sqrt((mF32[0] * mF32[0] + mF32[1] * mF32[1]) + (mF32[2] * mF32[2] + mF32[3] * mF32[3]));
+#endif
+}
+
+Vec4 Vec4::Sqrt() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_sqrt_ps(mValue);
+#elif defined(JPH_USE_NEON)
+	return vsqrtq_f32(mValue);
+#else
+	return Vec4(sqrt(mF32[0]), sqrt(mF32[1]), sqrt(mF32[2]), sqrt(mF32[3]));
+#endif
+}
+
+
+Vec4 Vec4::GetSign() const
+{
+#if defined(JPH_USE_AVX512)
+	return _mm_fixupimm_ps(mValue, mValue, _mm_set1_epi32(0xA9A90A00), 0);
+#elif defined(JPH_USE_SSE)
+	Type minus_one = _mm_set1_ps(-1.0f);
+	Type one = _mm_set1_ps(1.0f);
+	return _mm_or_ps(_mm_and_ps(mValue, minus_one), one);
+#elif defined(JPH_USE_NEON)
+	Type minus_one = vdupq_n_f32(-1.0f);
+	Type one = vdupq_n_f32(1.0f);
+	return vreinterpretq_f32_u32(vorrq_u32(vandq_u32(vreinterpretq_u32_f32(mValue), vreinterpretq_u32_f32(minus_one)), vreinterpretq_u32_f32(one)));
+#else
+	return Vec4(std::signbit(mF32[0])? -1.0f : 1.0f,
+				std::signbit(mF32[1])? -1.0f : 1.0f,
+				std::signbit(mF32[2])? -1.0f : 1.0f,
+				std::signbit(mF32[3])? -1.0f : 1.0f);
+#endif
+}
+
+template <int X, int Y, int Z, int W>
+JPH_INLINE Vec4 Vec4::FlipSign() const
+{
+	static_assert(X == 1 || X == -1, "X must be 1 or -1");
+	static_assert(Y == 1 || Y == -1, "Y must be 1 or -1");
+	static_assert(Z == 1 || Z == -1, "Z must be 1 or -1");
+	static_assert(W == 1 || W == -1, "W must be 1 or -1");
+	return Vec4::sXor(*this, Vec4(X > 0? 0.0f : -0.0f, Y > 0? 0.0f : -0.0f, Z > 0? 0.0f : -0.0f, W > 0? 0.0f : -0.0f));
+}
+
+Vec4 Vec4::Normalized() const
+{
+#if defined(JPH_USE_SSE4_1)
+	return _mm_div_ps(mValue, _mm_sqrt_ps(_mm_dp_ps(mValue, mValue, 0xff)));
+#elif defined(JPH_USE_NEON)
+	float32x4_t mul = vmulq_f32(mValue, mValue);
+	float32x4_t sum = vdupq_n_f32(vaddvq_f32(mul));
+	return vdivq_f32(mValue, vsqrtq_f32(sum));
+#else
+	return *this / Length();
+#endif
+}
+
+void Vec4::StoreFloat4(Float4 *outV) const
+{
+#if defined(JPH_USE_SSE)
+	_mm_storeu_ps(&outV->x, mValue);
+#elif defined(JPH_USE_NEON)
+	vst1q_f32(&outV->x, mValue);
+#else
+	for (int i = 0; i < 4; ++i)
+		(&outV->x)[i] = mF32[i];
+#endif
+}
+
+UVec4 Vec4::ToInt() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_cvttps_epi32(mValue);
+#elif defined(JPH_USE_NEON)
+	return vcvtq_u32_f32(mValue);
+#else
+	return UVec4(uint32(mF32[0]), uint32(mF32[1]), uint32(mF32[2]), uint32(mF32[3]));
+#endif
+}
+
+UVec4 Vec4::ReinterpretAsInt() const
+{
+#if defined(JPH_USE_SSE)
+	return UVec4(_mm_castps_si128(mValue));
+#elif defined(JPH_USE_NEON)
+	return vreinterpretq_u32_f32(mValue);
+#else
+	return *reinterpret_cast<const UVec4 *>(this);
+#endif
+}
+
+int Vec4::GetSignBits() const
+{
+#if defined(JPH_USE_SSE)
+	return _mm_movemask_ps(mValue);
+#elif defined(JPH_USE_NEON)
+	int32x4_t shift = JPH_NEON_INT32x4(0, 1, 2, 3);
+	return vaddvq_u32(vshlq_u32(vshrq_n_u32(vreinterpretq_u32_f32(mValue), 31), shift));
+#else
+	return (std::signbit(mF32[0])? 1 : 0) | (std::signbit(mF32[1])? 2 : 0) | (std::signbit(mF32[2])? 4 : 0) | (std::signbit(mF32[3])? 8 : 0);
+#endif
+}
+
+float Vec4::ReduceMin() const
+{
+	Vec4 v = sMin(mValue, Swizzle<SWIZZLE_Y, SWIZZLE_UNUSED, SWIZZLE_W, SWIZZLE_UNUSED>());
+	v = sMin(v, v.Swizzle<SWIZZLE_Z, SWIZZLE_UNUSED, SWIZZLE_UNUSED, SWIZZLE_UNUSED>());
+	return v.GetX();
+}
+
+float Vec4::ReduceMax() const
+{
+	Vec4 v = sMax(mValue, Swizzle<SWIZZLE_Y, SWIZZLE_UNUSED, SWIZZLE_W, SWIZZLE_UNUSED>());
+	v = sMax(v, v.Swizzle<SWIZZLE_Z, SWIZZLE_UNUSED, SWIZZLE_UNUSED, SWIZZLE_UNUSED>());
+	return v.GetX();
+}
+
+void Vec4::SinCos(Vec4 &outSin, Vec4 &outCos) const
+{
+	// Implementation based on sinf.c from the cephes library, combines sinf and cosf in a single function, changes octants to quadrants and vectorizes it
+	// Original implementation by Stephen L. Moshier (See: http://www.moshier.net/)
+
+	// Make argument positive and remember sign for sin only since cos is symmetric around x (highest bit of a float is the sign bit)
+	UVec4 sin_sign = UVec4::sAnd(ReinterpretAsInt(), UVec4::sReplicate(0x80000000U));
+	Vec4 x = Vec4::sXor(*this, sin_sign.ReinterpretAsFloat());
+
+	// x / (PI / 2) rounded to nearest int gives us the quadrant closest to x
+	UVec4 quadrant = (0.6366197723675814f * x + Vec4::sReplicate(0.5f)).ToInt();
+
+	// Make x relative to the closest quadrant.
+	// This does x = x - quadrant * PI / 2 using a two step Cody-Waite argument reduction.
+	// This improves the accuracy of the result by avoiding loss of significant bits in the subtraction.
+	// We start with x = x - quadrant * PI / 2, PI / 2 in hexadecimal notation is 0x3fc90fdb, we remove the lowest 16 bits to
+	// get 0x3fc90000 (= 1.5703125) this means we can now multiply with a number of up to 2^16 without losing any bits.
+	// This leaves us with: x = (x - quadrant * 1.5703125) - quadrant * (PI / 2 - 1.5703125).
+	// PI / 2 - 1.5703125 in hexadecimal is 0x39fdaa22, stripping the lowest 12 bits we get 0x39fda000 (= 0.0004837512969970703125)
+	// This leaves uw with: x = ((x - quadrant * 1.5703125) - quadrant * 0.0004837512969970703125) - quadrant * (PI / 2 - 1.5703125 - 0.0004837512969970703125)
+	// See: https://stackoverflow.com/questions/42455143/sine-cosine-modular-extended-precision-arithmetic
+	// After this we have x in the range [-PI / 4, PI / 4].
+	Vec4 float_quadrant = quadrant.ToFloat();
+	x = ((x - float_quadrant * 1.5703125f) - float_quadrant * 0.0004837512969970703125f) - float_quadrant * 7.549789948768648e-8f;
+
+	// Calculate x2 = x^2
+	Vec4 x2 = x * x;
+
+	// Taylor expansion:
+	// Cos(x) = 1 - x^2/2! + x^4/4! - x^6/6! + x^8/8! + ... = (((x2/8!- 1/6!) * x2 + 1/4!) * x2 - 1/2!) * x2 + 1
+	Vec4 taylor_cos = ((2.443315711809948e-5f * x2 - Vec4::sReplicate(1.388731625493765e-3f)) * x2 + Vec4::sReplicate(4.166664568298827e-2f)) * x2 * x2 - 0.5f * x2 + Vec4::sOne();
+	// Sin(x) = x - x^3/3! + x^5/5! - x^7/7! + ... = ((-x2/7! + 1/5!) * x2 - 1/3!) * x2 * x + x
+	Vec4 taylor_sin = ((-1.9515295891e-4f * x2 + Vec4::sReplicate(8.3321608736e-3f)) * x2 - Vec4::sReplicate(1.6666654611e-1f)) * x2 * x + x;
+
+	// The lowest 2 bits of quadrant indicate the quadrant that we are in.
+	// Let x be the original input value and x' our value that has been mapped to the range [-PI / 4, PI / 4].
+	// since cos(x) = sin(x - PI / 2) and since we want to use the Taylor expansion as close as possible to 0,
+	// we can alternate between using the Taylor expansion for sin and cos according to the following table:
+	//
+	// quadrant	 sin(x)		 cos(x)
+	// XXX00b	 sin(x')	 cos(x')
+	// XXX01b	 cos(x')	-sin(x')
+	// XXX10b	-sin(x')	-cos(x')
+	// XXX11b	-cos(x')	 sin(x')
+	//
+	// So: sin_sign = bit2, cos_sign = bit1 ^ bit2, bit1 determines if we use sin or cos Taylor expansion
+	UVec4 bit1 = quadrant.LogicalShiftLeft<31>();
+	UVec4 bit2 = UVec4::sAnd(quadrant.LogicalShiftLeft<30>(), UVec4::sReplicate(0x80000000U));
+
+	// Select which one of the results is sin and which one is cos
+	Vec4 s = Vec4::sSelect(taylor_sin, taylor_cos, bit1);
+	Vec4 c = Vec4::sSelect(taylor_cos, taylor_sin, bit1);
+
+	// Update the signs
+	sin_sign = UVec4::sXor(sin_sign, bit2);
+	UVec4 cos_sign = UVec4::sXor(bit1, bit2);
+
+	// Correct the signs
+	outSin = Vec4::sXor(s, sin_sign.ReinterpretAsFloat());
+	outCos = Vec4::sXor(c, cos_sign.ReinterpretAsFloat());
+}
+
+Vec4 Vec4::Tan() const
+{
+	// Implementation based on tanf.c from the cephes library, see Vec4::SinCos for further details
+	// Original implementation by Stephen L. Moshier (See: http://www.moshier.net/)
+
+	// Make argument positive
+	UVec4 tan_sign = UVec4::sAnd(ReinterpretAsInt(), UVec4::sReplicate(0x80000000U));
+	Vec4 x = Vec4::sXor(*this, tan_sign.ReinterpretAsFloat());
+
+	// x / (PI / 2) rounded to nearest int gives us the quadrant closest to x
+	UVec4 quadrant = (0.6366197723675814f * x + Vec4::sReplicate(0.5f)).ToInt();
+
+	// Remap x to range [-PI / 4, PI / 4], see Vec4::SinCos
+	Vec4 float_quadrant = quadrant.ToFloat();
+	x = ((x - float_quadrant * 1.5703125f) - float_quadrant * 0.0004837512969970703125f) - float_quadrant * 7.549789948768648e-8f;
+
+	// Calculate x2 = x^2
+	Vec4 x2 = x * x;
+
+	// Roughly equivalent to the Taylor expansion:
+	// Tan(x) = x + x^3/3 + 2*x^5/15 + 17*x^7/315 + 62*x^9/2835 + ...
+	Vec4 tan =
+		(((((9.38540185543e-3f * x2 + Vec4::sReplicate(3.11992232697e-3f)) * x2 + Vec4::sReplicate(2.44301354525e-2f)) * x2
+		+ Vec4::sReplicate(5.34112807005e-2f)) * x2 + Vec4::sReplicate(1.33387994085e-1f)) * x2 + Vec4::sReplicate(3.33331568548e-1f)) * x2 * x + x;
+
+	// For the 2nd and 4th quadrant we need to invert the value
+	UVec4 bit1 = quadrant.LogicalShiftLeft<31>();
+	tan = Vec4::sSelect(tan, Vec4::sReplicate(-1.0f) / (tan JPH_IF_FLOATING_POINT_EXCEPTIONS_ENABLED(+ Vec4::sReplicate(FLT_MIN))), bit1); // Add small epsilon to prevent div by zero, works because tan is always positive
+
+	// Put the sign back
+	return Vec4::sXor(tan, tan_sign.ReinterpretAsFloat());
+}
+
+Vec4 Vec4::ASin() const
+{
+	// Implementation based on asinf.c from the cephes library
+	// Original implementation by Stephen L. Moshier (See: http://www.moshier.net/)
+
+	// Make argument positive
+	UVec4 asin_sign = UVec4::sAnd(ReinterpretAsInt(), UVec4::sReplicate(0x80000000U));
+	Vec4 a = Vec4::sXor(*this, asin_sign.ReinterpretAsFloat());
+
+	// ASin is not defined outside the range [-1, 1] but it often happens that a value is slightly above 1 so we just clamp here
+	a = Vec4::sMin(a, Vec4::sOne());
+
+	// When |x| <= 0.5 we use the asin approximation as is
+	Vec4 z1 = a * a;
+	Vec4 x1 = a;
+
+	// When |x| > 0.5 we use the identity asin(x) = PI / 2 - 2 * asin(sqrt((1 - x) / 2))
+	Vec4 z2 = 0.5f * (Vec4::sOne() - a);
+	Vec4 x2 = z2.Sqrt();
+
+	// Select which of the two situations we have
+	UVec4 greater = Vec4::sGreater(a, Vec4::sReplicate(0.5f));
+	Vec4 z = Vec4::sSelect(z1, z2, greater);
+	Vec4 x = Vec4::sSelect(x1, x2, greater);
+
+	// Polynomial approximation of asin
+	z = ((((4.2163199048e-2f * z + Vec4::sReplicate(2.4181311049e-2f)) * z + Vec4::sReplicate(4.5470025998e-2f)) * z + Vec4::sReplicate(7.4953002686e-2f)) * z + Vec4::sReplicate(1.6666752422e-1f)) * z * x + x;
+
+	// If |x| > 0.5 we need to apply the remainder of the identity above
+	z = Vec4::sSelect(z, Vec4::sReplicate(0.5f * JPH_PI) - (z + z), greater);
+
+	// Put the sign back
+	return Vec4::sXor(z, asin_sign.ReinterpretAsFloat());
+}
+
+Vec4 Vec4::ACos() const
+{
+	// Not the most accurate, but simple
+	return Vec4::sReplicate(0.5f * JPH_PI) - ASin();
+}
+
+Vec4 Vec4::ATan() const
+{
+	// Implementation based on atanf.c from the cephes library
+	// Original implementation by Stephen L. Moshier (See: http://www.moshier.net/)
+
+	// Make argument positive
+	UVec4 atan_sign = UVec4::sAnd(ReinterpretAsInt(), UVec4::sReplicate(0x80000000U));
+	Vec4 x = Vec4::sXor(*this, atan_sign.ReinterpretAsFloat());
+	Vec4 y = Vec4::sZero();
+
+	// If x > Tan(PI / 8)
+	UVec4 greater1 = Vec4::sGreater(x, Vec4::sReplicate(0.4142135623730950f));
+	Vec4 x1 = (x - Vec4::sOne()) / (x + Vec4::sOne());
+
+	// If x > Tan(3 * PI / 8)
+	UVec4 greater2 = Vec4::sGreater(x, Vec4::sReplicate(2.414213562373095f));
+	Vec4 x2 = Vec4::sReplicate(-1.0f) / (x JPH_IF_FLOATING_POINT_EXCEPTIONS_ENABLED(+ Vec4::sReplicate(FLT_MIN))); // Add small epsilon to prevent div by zero, works because x is always positive
+
+	// Apply first if
+	x = Vec4::sSelect(x, x1, greater1);
+	y = Vec4::sSelect(y, Vec4::sReplicate(0.25f * JPH_PI), greater1);
+
+	// Apply second if
+	x = Vec4::sSelect(x, x2, greater2);
+	y = Vec4::sSelect(y, Vec4::sReplicate(0.5f * JPH_PI), greater2);
+
+	// Polynomial approximation
+	Vec4 z = x * x;
+	y += (((8.05374449538e-2f * z - Vec4::sReplicate(1.38776856032e-1f)) * z + Vec4::sReplicate(1.99777106478e-1f)) * z - Vec4::sReplicate(3.33329491539e-1f)) * z * x + x;
+
+	// Put the sign back
+	return Vec4::sXor(y, atan_sign.ReinterpretAsFloat());
+}
+
+Vec4 Vec4::sATan2(Vec4Arg inY, Vec4Arg inX)
+{
+	UVec4 sign_mask = UVec4::sReplicate(0x80000000U);
+
+	// Determine absolute value and sign of y
+	UVec4 y_sign = UVec4::sAnd(inY.ReinterpretAsInt(), sign_mask);
+	Vec4 y_abs = Vec4::sXor(inY, y_sign.ReinterpretAsFloat());
+
+	// Determine absolute value and sign of x
+	UVec4 x_sign = UVec4::sAnd(inX.ReinterpretAsInt(), sign_mask);
+	Vec4 x_abs = Vec4::sXor(inX, x_sign.ReinterpretAsFloat());
+
+	// Always divide smallest / largest to avoid dividing by zero
+	UVec4 x_is_numerator = Vec4::sLess(x_abs, y_abs);
+	Vec4 numerator = Vec4::sSelect(y_abs, x_abs, x_is_numerator);
+	Vec4 denominator = Vec4::sSelect(x_abs, y_abs, x_is_numerator);
+	Vec4 atan = (numerator / denominator).ATan();
+
+	// If we calculated x / y instead of y / x the result is PI / 2 - result (note that this is true because we know the result is positive because the input was positive)
+	atan = Vec4::sSelect(atan, Vec4::sReplicate(0.5f * JPH_PI) - atan, x_is_numerator);
+
+	// Now we need to map to the correct quadrant
+	// x_sign	y_sign	result
+	// +1		+1		atan
+	// -1		+1		-atan + PI
+	// -1		-1		atan - PI
+	// +1		-1		-atan
+	// This can be written as: x_sign * y_sign * (atan - (x_sign < 0? PI : 0))
+	atan -= Vec4::sAnd(x_sign.ArithmeticShiftRight<31>().ReinterpretAsFloat(), Vec4::sReplicate(JPH_PI));
+	atan = Vec4::sXor(atan, UVec4::sXor(x_sign, y_sign).ReinterpretAsFloat());
+	return atan;
+}
+
+uint32 Vec4::CompressUnitVector() const
+{
+	constexpr float cOneOverSqrt2 = 0.70710678f;
+	constexpr uint cNumBits = 9;
+	constexpr uint cMask = (1 << cNumBits) - 1;
+	constexpr uint cMaxValue = cMask - 1; // Need odd number of buckets to quantize to or else we can't encode 0
+	constexpr float cScale = float(cMaxValue) / (2.0f * cOneOverSqrt2);
+
+	// Store sign bit
+	Vec4 v = *this;
+	uint32 max_element = v.Abs().GetHighestComponentIndex();
+	uint32 value = 0;
+	if (v[max_element] < 0.0f)
+	{
+		value = 0x80000000u;
+		v = -v;
+	}
+
+	// Store highest component
+	value |= max_element << 29;
+
+	// Store the other three components in a compressed format
+	UVec4 compressed = Vec4::sClamp((v + Vec4::sReplicate(cOneOverSqrt2)) * cScale + Vec4::sReplicate(0.5f), Vec4::sZero(), Vec4::sReplicate(cMaxValue)).ToInt();
+	switch (max_element)
+	{
+	case 0:
+		compressed = compressed.Swizzle<SWIZZLE_Y, SWIZZLE_Z, SWIZZLE_W, SWIZZLE_UNUSED>();
+		break;
+
+	case 1:
+		compressed = compressed.Swizzle<SWIZZLE_X, SWIZZLE_Z, SWIZZLE_W, SWIZZLE_UNUSED>();
+		break;
+
+	case 2:
+		compressed = compressed.Swizzle<SWIZZLE_X, SWIZZLE_Y, SWIZZLE_W, SWIZZLE_UNUSED>();
+		break;
+	}
+
+	value |= compressed.GetX();
+	value |= compressed.GetY() << cNumBits;
+	value |= compressed.GetZ() << 2 * cNumBits;
+	return value;
+}
+
+Vec4 Vec4::sDecompressUnitVector(uint32 inValue)
+{
+	constexpr float cOneOverSqrt2 = 0.70710678f;
+	constexpr uint cNumBits = 9;
+	constexpr uint cMask = (1u << cNumBits) - 1;
+	constexpr uint cMaxValue = cMask - 1; // Need odd number of buckets to quantize to or else we can't encode 0
+	constexpr float cScale = 2.0f * cOneOverSqrt2 / float(cMaxValue);
+
+	// Restore three components
+	Vec4 v = Vec4(UVec4(inValue & cMask, (inValue >> cNumBits) & cMask, (inValue >> (2 * cNumBits)) & cMask, 0).ToFloat()) * cScale - Vec4(cOneOverSqrt2, cOneOverSqrt2, cOneOverSqrt2, 0.0f);
+	JPH_ASSERT(v.GetW() == 0.0f);
+
+	// Restore the highest component
+	v.SetW(sqrt(max(1.0f - v.LengthSq(), 0.0f)));
+
+	// Extract sign
+	if ((inValue & 0x80000000u) != 0)
+		v = -v;
+
+	// Swizzle the components in place
+	switch ((inValue >> 29) & 3)
+	{
+	case 0:
+		v = v.Swizzle<SWIZZLE_W, SWIZZLE_X, SWIZZLE_Y, SWIZZLE_Z>();
+		break;
+
+	case 1:
+		v = v.Swizzle<SWIZZLE_X, SWIZZLE_W, SWIZZLE_Y, SWIZZLE_Z>();
+		break;
+
+	case 2:
+		v = v.Swizzle<SWIZZLE_X, SWIZZLE_Y, SWIZZLE_W, SWIZZLE_Z>();
+		break;
+	}
+
+	return v;
+}
+
+JPH_NAMESPACE_END