238 lines
6.9 KiB
C++
238 lines
6.9 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SIMD_QUADWORD_H
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#define BT_SIMD_QUADWORD_H
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#include "btScalar.h"
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#include "btMinMax.h"
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#if defined(__CELLOS_LV2) && defined(__SPU__)
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#include <altivec.h>
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#endif
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/**@brief The btQuadWord class is base class for btVector3 and btQuaternion.
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* Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword.
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*/
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#ifndef USE_LIBSPE2
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ATTRIBUTE_ALIGNED16(class)
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btQuadWord
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#else
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class btQuadWord
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#endif
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{
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protected:
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#if defined(__SPU__) && defined(__CELLOS_LV2__)
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union {
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vec_float4 mVec128;
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btScalar m_floats[4];
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};
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public:
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vec_float4 get128() const
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{
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return mVec128;
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}
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protected:
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#else //__CELLOS_LV2__ __SPU__
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#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
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union {
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btSimdFloat4 mVec128;
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btScalar m_floats[4];
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};
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public:
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SIMD_FORCE_INLINE btSimdFloat4 get128() const
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{
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return mVec128;
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}
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SIMD_FORCE_INLINE void set128(btSimdFloat4 v128)
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{
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mVec128 = v128;
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}
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#else
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btScalar m_floats[4];
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#endif // BT_USE_SSE
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#endif //__CELLOS_LV2__ __SPU__
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public:
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#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) || defined(BT_USE_NEON)
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// Set Vector
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SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
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{
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mVec128 = vec;
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}
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// Copy constructor
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SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
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{
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mVec128 = rhs.mVec128;
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}
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// Assignment Operator
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SIMD_FORCE_INLINE btQuadWord&
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operator=(const btQuadWord& v)
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{
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mVec128 = v.mVec128;
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return *this;
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}
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#endif
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/**@brief Return the x value */
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SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
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/**@brief Return the y value */
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SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
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/**@brief Return the z value */
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SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
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/**@brief Set the x value */
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SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x; };
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/**@brief Set the y value */
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SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y; };
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/**@brief Set the z value */
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SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z; };
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/**@brief Set the w value */
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SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w; };
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/**@brief Return the x value */
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SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
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/**@brief Return the y value */
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SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
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/**@brief Return the z value */
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SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
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/**@brief Return the w value */
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SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
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//SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
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//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
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///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
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SIMD_FORCE_INLINE operator btScalar*() { return &m_floats[0]; }
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SIMD_FORCE_INLINE operator const btScalar*() const { return &m_floats[0]; }
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SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
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{
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#ifdef BT_USE_SSE
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return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
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#else
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return ((m_floats[3] == other.m_floats[3]) &&
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(m_floats[2] == other.m_floats[2]) &&
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(m_floats[1] == other.m_floats[1]) &&
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(m_floats[0] == other.m_floats[0]));
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#endif
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}
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SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
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{
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return !(*this == other);
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}
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/**@brief Set x,y,z and zero w
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* @param x Value of x
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* @param y Value of y
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* @param z Value of z
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*/
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SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
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{
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m_floats[0] = _x;
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m_floats[1] = _y;
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m_floats[2] = _z;
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m_floats[3] = 0.f;
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}
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/* void getValue(btScalar *m) const
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{
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m[0] = m_floats[0];
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m[1] = m_floats[1];
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m[2] = m_floats[2];
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}
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*/
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/**@brief Set the values
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* @param x Value of x
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* @param y Value of y
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* @param z Value of z
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* @param w Value of w
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*/
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SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
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{
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m_floats[0] = _x;
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m_floats[1] = _y;
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m_floats[2] = _z;
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m_floats[3] = _w;
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}
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/**@brief No initialization constructor */
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SIMD_FORCE_INLINE btQuadWord()
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// :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.))
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{
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}
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/**@brief Three argument constructor (zeros w)
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* @param x Value of x
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* @param y Value of y
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* @param z Value of z
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*/
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SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)
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{
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m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
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}
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/**@brief Initializing constructor
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* @param x Value of x
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* @param y Value of y
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* @param z Value of z
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* @param w Value of w
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*/
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SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
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{
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m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
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}
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/**@brief Set each element to the max of the current values and the values of another btQuadWord
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* @param other The other btQuadWord to compare with
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*/
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SIMD_FORCE_INLINE void setMax(const btQuadWord& other)
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{
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#ifdef BT_USE_SSE
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mVec128 = _mm_max_ps(mVec128, other.mVec128);
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#elif defined(BT_USE_NEON)
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mVec128 = vmaxq_f32(mVec128, other.mVec128);
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#else
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btSetMax(m_floats[0], other.m_floats[0]);
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btSetMax(m_floats[1], other.m_floats[1]);
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btSetMax(m_floats[2], other.m_floats[2]);
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btSetMax(m_floats[3], other.m_floats[3]);
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#endif
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}
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/**@brief Set each element to the min of the current values and the values of another btQuadWord
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* @param other The other btQuadWord to compare with
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*/
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SIMD_FORCE_INLINE void setMin(const btQuadWord& other)
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{
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#ifdef BT_USE_SSE
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mVec128 = _mm_min_ps(mVec128, other.mVec128);
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#elif defined(BT_USE_NEON)
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mVec128 = vminq_f32(mVec128, other.mVec128);
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#else
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btSetMin(m_floats[0], other.m_floats[0]);
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btSetMin(m_floats[1], other.m_floats[1]);
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btSetMin(m_floats[2], other.m_floats[2]);
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btSetMin(m_floats[3], other.m_floats[3]);
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#endif
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}
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};
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#endif //BT_SIMD_QUADWORD_H
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