Changeset 2882 for code/trunk/src/bullet/LinearMath/btVector3.h
- Timestamp:
- Mar 31, 2009, 8:05:51 PM (15 years ago)
- File:
-
- 1 edited
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code/trunk/src/bullet/LinearMath/btVector3.h (modified) (22 diffs)
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code/trunk/src/bullet/LinearMath/btVector3.h
r2662 r2882 18 18 #define SIMD__VECTOR3_H 19 19 20 #include "btQuadWord.h" 21 20 21 #include "btScalar.h" 22 #include "btScalar.h" 23 #include "btMinMax.h" 22 24 /**@brief btVector3 can be used to represent 3D points and vectors. 23 25 * 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 24 26 * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers 25 27 */ 26 class btVector3 : public btQuadWord { 27 28 29 ATTRIBUTE_ALIGNED16(class) btVector3 30 { 28 31 public: 32 33 #if defined (__SPU__) && defined (__CELLOS_LV2__) 34 union { 35 vec_float4 mVec128; 36 btScalar m_floats[4]; 37 }; 38 public: 39 vec_float4 get128() const 40 { 41 return mVec128; 42 } 43 public: 44 #else //__CELLOS_LV2__ __SPU__ 45 #ifdef BT_USE_SSE // WIN32 46 union { 47 __m128 mVec128; 48 btScalar m_floats[4]; 49 }; 50 SIMD_FORCE_INLINE __m128 get128() const 51 { 52 return mVec128; 53 } 54 SIMD_FORCE_INLINE void set128(__m128 v128) 55 { 56 mVec128 = v128; 57 } 58 #else 59 btScalar m_floats[4]; 60 #endif 61 #endif //__CELLOS_LV2__ __SPU__ 62 63 public: 64 29 65 /**@brief No initialization constructor */ 30 66 SIMD_FORCE_INLINE btVector3() {} 31 67 32 /**@brief Constructor from btQuadWordStorage (btVector3 inherits from this so is also valid) 33 * Note: Vector3 derives from btQuadWordStorage*/ 34 SIMD_FORCE_INLINE btVector3(const btQuadWordStorage& q) 35 : btQuadWord(q) 36 { 37 } 68 38 69 39 70 /**@brief Constructor from scalars … … 42 73 * @param z Z value 43 74 */ 44 SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) 45 :btQuadWord(x,y,z,btScalar(0.)) 46 { 47 } 48 49 // SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 50 // : btQuadWord(x,y,z,w) 51 // { 52 // } 75 SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) 76 { 77 m_floats[0] = x; 78 m_floats[1] = y; 79 m_floats[2] = z; 80 m_floats[3] = btScalar(0.); 81 } 53 82 54 83 … … 58 87 { 59 88 60 m_floats[0] += v. x(); m_floats[1] += v.y(); m_floats[2] += v.z();89 m_floats[0] += v.m_floats[0]; m_floats[1] += v.m_floats[1];m_floats[2] += v.m_floats[2]; 61 90 return *this; 62 91 } … … 67 96 SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) 68 97 { 69 m_floats[0] -= v. x(); m_floats[1] -= v.y(); m_floats[2] -= v.z();98 m_floats[0] -= v.m_floats[0]; m_floats[1] -= v.m_floats[1];m_floats[2] -= v.m_floats[2]; 70 99 return *this; 71 100 } … … 74 103 SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) 75 104 { 76 m_floats[0] *= s; m_floats[1] *= s; 105 m_floats[0] *= s; m_floats[1] *= s;m_floats[2] *= s; 77 106 return *this; 78 107 } … … 90 119 SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const 91 120 { 92 return m_floats[0] * v. x() + m_floats[1] * v.y() + m_floats[2] * v.z();121 return m_floats[0] * v.m_floats[0] + m_floats[1] * v.m_floats[1] +m_floats[2] * v.m_floats[2]; 93 122 } 94 123 … … 149 178 { 150 179 return btVector3( 151 m_floats[1] * v. z() - m_floats[2] * v.y(),152 m_floats[2] * v. x() - m_floats[0] * v.z(),153 m_floats[0] * v. y() - m_floats[1] * v.x());180 m_floats[1] * v.m_floats[2] -m_floats[2] * v.m_floats[1], 181 m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], 182 m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); 154 183 } 155 184 156 185 SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const 157 186 { 158 return m_floats[0] * (v1. y() * v2.z() - v1.z() * v2.y()) +159 m_floats[1] * (v1. z() * v2.x() - v1.x() * v2.z()) +160 m_floats[2] * (v1. x() * v2.y() - v1.y() * v2.x());187 return m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + 188 m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + 189 m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); 161 190 } 162 191 … … 165 194 SIMD_FORCE_INLINE int minAxis() const 166 195 { 167 return m_floats[0] < m_floats[1] ? (m_floats[0] < m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2);196 return m_floats[0] < m_floats[1] ? (m_floats[0] <m_floats[2] ? 0 : 2) : (m_floats[1] <m_floats[2] ? 1 : 2); 168 197 } 169 198 … … 172 201 SIMD_FORCE_INLINE int maxAxis() const 173 202 { 174 return m_floats[0] < m_floats[1] ? (m_floats[1] < m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0);203 return m_floats[0] < m_floats[1] ? (m_floats[1] <m_floats[2] ? 2 : 1) : (m_floats[0] <m_floats[2] ? 2 : 0); 175 204 } 176 205 … … 188 217 { 189 218 btScalar s = btScalar(1.0) - rt; 190 m_floats[0] = s * v0. x() + rt * v1.x();191 m_floats[1] = s * v0. y() + rt * v1.y();192 m_floats[2] = s * v0. z() + rt * v1.z();219 m_floats[0] = s * v0.m_floats[0] + rt * v1.m_floats[0]; 220 m_floats[1] = s * v0.m_floats[1] + rt * v1.m_floats[1]; 221 m_floats[2] = s * v0.m_floats[2] + rt * v1.m_floats[2]; 193 222 //don't do the unused w component 194 223 // m_co[3] = s * v0[3] + rt * v1[3]; … … 200 229 SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const 201 230 { 202 return btVector3(m_floats[0] + (v. x()- m_floats[0]) * t,203 m_floats[1] + (v. y()- m_floats[1]) * t,204 m_floats[2] + (v. z() -m_floats[2]) * t);231 return btVector3(m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, 232 m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, 233 m_floats[2] + (v.m_floats[2] -m_floats[2]) * t); 205 234 } 206 235 … … 209 238 SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) 210 239 { 211 m_floats[0] *= v. x(); m_floats[1] *= v.y(); m_floats[2] *= v.z();240 m_floats[0] *= v.m_floats[0]; m_floats[1] *= v.m_floats[1];m_floats[2] *= v.m_floats[2]; 212 241 return *this; 213 242 } 214 243 215 244 /**@brief Return the x value */ 245 SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } 246 /**@brief Return the y value */ 247 SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } 248 /**@brief Return the z value */ 249 SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } 250 /**@brief Set the x value */ 251 SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x;}; 252 /**@brief Set the y value */ 253 SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y;}; 254 /**@brief Set the z value */ 255 SIMD_FORCE_INLINE void setZ(btScalar z) {m_floats[2] = z;}; 256 /**@brief Set the w value */ 257 SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w;}; 258 /**@brief Return the x value */ 259 SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } 260 /**@brief Return the y value */ 261 SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } 262 /**@brief Return the z value */ 263 SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } 264 /**@brief Return the w value */ 265 SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } 266 267 //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } 268 //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } 269 ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. 270 SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } 271 SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } 272 273 SIMD_FORCE_INLINE bool operator==(const btVector3& other) const 274 { 275 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])); 276 } 277 278 SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const 279 { 280 return !(*this == other); 281 } 282 283 /**@brief Set each element to the max of the current values and the values of another btVector3 284 * @param other The other btVector3 to compare with 285 */ 286 SIMD_FORCE_INLINE void setMax(const btVector3& other) 287 { 288 btSetMax(m_floats[0], other.m_floats[0]); 289 btSetMax(m_floats[1], other.m_floats[1]); 290 btSetMax(m_floats[2], other.m_floats[2]); 291 btSetMax(m_floats[3], other.w()); 292 } 293 /**@brief Set each element to the min of the current values and the values of another btVector3 294 * @param other The other btVector3 to compare with 295 */ 296 SIMD_FORCE_INLINE void setMin(const btVector3& other) 297 { 298 btSetMin(m_floats[0], other.m_floats[0]); 299 btSetMin(m_floats[1], other.m_floats[1]); 300 btSetMin(m_floats[2], other.m_floats[2]); 301 btSetMin(m_floats[3], other.w()); 302 } 303 304 SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z) 305 { 306 m_floats[0]=x; 307 m_floats[1]=y; 308 m_floats[2]=z; 309 m_floats[3] = 0.f; 310 } 311 312 void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const 313 { 314 v0->setValue(0. ,-z() ,y()); 315 v1->setValue(z() ,0. ,-x()); 316 v2->setValue(-y() ,x() ,0.); 317 } 216 318 217 319 }; … … 221 323 operator+(const btVector3& v1, const btVector3& v2) 222 324 { 223 return btVector3(v1. x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());325 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]); 224 326 } 225 327 … … 228 330 operator*(const btVector3& v1, const btVector3& v2) 229 331 { 230 return btVector3(v1. x() * v2.x(), v1.y() * v2.y(), v1.z() * v2.z());332 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]); 231 333 } 232 334 … … 235 337 operator-(const btVector3& v1, const btVector3& v2) 236 338 { 237 return btVector3(v1. x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());339 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]); 238 340 } 239 341 /**@brief Return the negative of the vector */ … … 241 343 operator-(const btVector3& v) 242 344 { 243 return btVector3(-v. x(), -v.y(), -v.z());345 return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); 244 346 } 245 347 … … 248 350 operator*(const btVector3& v, const btScalar& s) 249 351 { 250 return btVector3(v. x() * s, v.y() * s, v.z()* s);352 return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); 251 353 } 252 354 … … 270 372 operator/(const btVector3& v1, const btVector3& v2) 271 373 { 272 return btVector3(v1. x() / v2.x(),v1.y() / v2.y(),v1.z() / v2.z());374 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]); 273 375 } 274 376 … … 326 428 } 327 429 328 /**@brief Test if each element of the vector is equivalent */ 329 SIMD_FORCE_INLINE bool operator==(const btVector3& p1, const btVector3& p2) 330 { 331 return p1.x() == p2.x() && p1.y() == p2.y() && p1.z() == p2.z(); 332 } 430 333 431 334 432 SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const … … 405 503 { 406 504 maxIndex = 2; 407 maxVal = 505 maxVal =m_floats[2]; 408 506 } 409 507 if (m_floats[3] > maxVal) … … 438 536 { 439 537 minIndex = 2; 440 minVal = 538 minVal =m_floats[2]; 441 539 } 442 540 if (m_floats[3] < minVal) … … 455 553 return absolute4().maxAxis4(); 456 554 } 555 556 557 558 559 /**@brief Set x,y,z and zero w 560 * @param x Value of x 561 * @param y Value of y 562 * @param z Value of z 563 */ 564 565 566 /* void getValue(btScalar *m) const 567 { 568 m[0] = m_floats[0]; 569 m[1] = m_floats[1]; 570 m[2] =m_floats[2]; 571 } 572 */ 573 /**@brief Set the values 574 * @param x Value of x 575 * @param y Value of y 576 * @param z Value of z 577 * @param w Value of w 578 */ 579 SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 580 { 581 m_floats[0]=x; 582 m_floats[1]=y; 583 m_floats[2]=z; 584 m_floats[3]=w; 585 } 586 587 588 457 589 458 590 };
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