btVector3.h

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/*
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 "btMinMax.h"
#include "btScalar.h"

#ifdef BT_USE_DOUBLE_PRECISION
#define btVector3Data btVector3DoubleData
#define btVector3DataName "btVector3DoubleData"
#else
#define btVector3Data btVector3FloatData
#define btVector3DataName "btVector3FloatData"
#endif //BT_USE_DOUBLE_PRECISION

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:
    SIMD_FORCE_INLINE btVector3() {}

    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.);
    }

    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;
    }

    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;
    }
    SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
    {
        m_floats[0] *= s;
        m_floats[1] *= s;
        m_floats[2] *= s;
        return *this;
    }

    SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
    {
        btFullAssert(s != btScalar(0.0));
        return * this *= btScalar(1.0) / s;
    }

    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];
    }

    SIMD_FORCE_INLINE btScalar length2() const
    {
        return dot(*this);
    }

    SIMD_FORCE_INLINE btScalar length() const
    {
        return btSqrt(length2());
    }

    SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;

    SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;

    SIMD_FORCE_INLINE btVector3& safeNormalize()
    {
        btVector3 absVec = this->absolute();
        int32_t maxIndex = absVec.maxAxis();
        if (absVec[maxIndex] > 0) {
            *this /= absVec[maxIndex];
            return * this /= length();
        }
        setValue(1, 0, 0);
        return *this;
    }

    SIMD_FORCE_INLINE btVector3& normalize()
    {
        return * this /= length();
    }

    SIMD_FORCE_INLINE btVector3 normalized() const;

    SIMD_FORCE_INLINE btVector3 rotate(const btVector3& wAxis, const btScalar angle) const;

    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);
    }
    SIMD_FORCE_INLINE btVector3 absolute() const
    {
        return btVector3(
            btFabs(m_floats[0]),
            btFabs(m_floats[1]),
            btFabs(m_floats[2]));
    }
    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]);
    }

    SIMD_FORCE_INLINE int32_t 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);
    }

    SIMD_FORCE_INLINE int32_t 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 int32_t furthestAxis() const
    {
        return absolute().minAxis();
    }

    SIMD_FORCE_INLINE int32_t 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];
    }

    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);
    }

    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;
    }

    SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
    SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
    SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
    SIMD_FORCE_INLINE void setX(btScalar x) { m_floats[0] = x; };
    SIMD_FORCE_INLINE void setY(btScalar y) { m_floats[1] = y; };
    SIMD_FORCE_INLINE void setZ(btScalar z) { m_floats[2] = z; };
    SIMD_FORCE_INLINE void setW(btScalar w) { m_floats[3] = w; };
    SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
    SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
    SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
    SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }

    //SIMD_FORCE_INLINE btScalar&       operator[](int32_t i)       { return (&m_floats[0])[i]; }
    //SIMD_FORCE_INLINE const btScalar& operator[](int32_t i) const { return (&m_floats[0])[i]; }
    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);
    }

    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());
    }
    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);
};

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]);
}

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]);
}

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]);
}
SIMD_FORCE_INLINE btVector3
operator-(const btVector3& v)
{
    return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]);
}

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);
}

SIMD_FORCE_INLINE btVector3
operator*(const btScalar& s, const btVector3& v)
{
    return v * s;
}

SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v, const btScalar& s)
{
    btFullAssert(s != btScalar(0.0));
    return v * (btScalar(1.0) / 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]);
}

SIMD_FORCE_INLINE btScalar
btDot(const btVector3& v1, const btVector3& v2)
{
    return v1.dot(v2);
}

SIMD_FORCE_INLINE btScalar
btDistance2(const btVector3& v1, const btVector3& v2)
{
    return v1.distance2(v2);
}

SIMD_FORCE_INLINE btScalar
btDistance(const btVector3& v1, const btVector3& v2)
{
    return v1.distance(v2);
}

SIMD_FORCE_INLINE btScalar
btAngle(const btVector3& v1, const btVector3& v2)
{
    return v1.angle(v2);
}

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);
}

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 int32_t maxAxis4() const
    {
        int32_t 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;
        }
        return maxIndex;
    }

    SIMD_FORCE_INLINE int32_t minAxis4() const
    {
        int32_t 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;
        }

        return minIndex;
    }

    SIMD_FORCE_INLINE int32_t closestAxis4() const
    {
        return absolute4().maxAxis4();
    }

    /*      void getValue(btScalar *m) const 
        {
            m[0] = m_floats[0];
            m[1] = m_floats[1];
            m[2] =m_floats[2];
        }
*/
    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;
    }
};

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
}
SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec)
{
    for (int32_t i = 0; i < 4; i++) {
        btSwapScalarEndian(sourceVec[i], destVec[i]);
    }
}

SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
{

    btVector3 swappedVec;
    for (int32_t 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
{
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = float(m_floats[i]);
}

SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = btScalar(dataIn.m_floats[i]);
}

SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
{
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = double(m_floats[i]);
}

SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = btScalar(dataIn.m_floats[i]);
}

SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
{
    for (int32_t i = 0; i < 4; i++)
        dataOut.m_floats[i] = m_floats[i];
}

SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
{
    for (int32_t i = 0; i < 4; i++)
        m_floats[i] = dataIn.m_floats[i];
}

#endif //BT_VECTOR3_H