sse/vec_aos.h

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/*
   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
   All rights reserved.

   Redistribution and use in source and binary forms,
   with or without modification, are permitted provided that the
   following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Sony Computer Entertainment Inc nor the names
      of its contributors may be used to endorse or promote products derived
      from this software without specific prior written permission.

   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef _VECTORMATH_VEC_AOS_CPP_H
#define _VECTORMATH_VEC_AOS_CPP_H

//-----------------------------------------------------------------------------
// Constants
// for permutes words are labeled [x,y,z,w] [a,b,c,d]

#define _VECTORMATH_PERM_X 0x00010203
#define _VECTORMATH_PERM_Y 0x04050607
#define _VECTORMATH_PERM_Z 0x08090a0b
#define _VECTORMATH_PERM_W 0x0c0d0e0f
#define _VECTORMATH_PERM_A 0x10111213
#define _VECTORMATH_PERM_B 0x14151617
#define _VECTORMATH_PERM_C 0x18191a1b
#define _VECTORMATH_PERM_D 0x1c1d1e1f
#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A }
#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W }
#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W }
#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }
#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C }
#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W }
#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W }
#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 }
#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 }
#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 }
#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff }
#define _VECTORMATH_UNIT_1000 _mm_setr_ps(1.0f,0.0f,0.0f,0.0f) // (__m128){ 1.0f, 0.0f, 0.0f, 0.0f }
#define _VECTORMATH_UNIT_0100 _mm_setr_ps(0.0f,1.0f,0.0f,0.0f) // (__m128){ 0.0f, 1.0f, 0.0f, 0.0f }
#define _VECTORMATH_UNIT_0010 _mm_setr_ps(0.0f,0.0f,1.0f,0.0f) // (__m128){ 0.0f, 0.0f, 1.0f, 0.0f }
#define _VECTORMATH_UNIT_0001 _mm_setr_ps(0.0f,0.0f,0.0f,1.0f) // (__m128){ 0.0f, 0.0f, 0.0f, 1.0f }
#define _VECTORMATH_SLERP_TOL 0.999f
//_VECTORMATH_SLERP_TOLF

//-----------------------------------------------------------------------------
// Definitions

#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
#define _VECTORMATH_INTERNAL_FUNCTIONS

#define     _vmath_shufps(a, b, immx, immy, immz, immw) _mm_shuffle_ps(a, b, _MM_SHUFFLE(immw, immz, immy, immx))
static VECTORMATH_FORCE_INLINE __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 )
{
        __m128 result = _mm_mul_ps( vec0, vec1);
    return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) );
}

static VECTORMATH_FORCE_INLINE __m128 _vmathVfDot4( __m128 vec0, __m128 vec1 )
{
    __m128 result = _mm_mul_ps(vec0, vec1);
        return _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(0,0,0,0)),
                        _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(1,1,1,1)),
                        _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(2,2,2,2)), _mm_shuffle_ps(result, result, _MM_SHUFFLE(3,3,3,3)))));
}

static VECTORMATH_FORCE_INLINE __m128 _vmathVfCross( __m128 vec0, __m128 vec1 )
{
    __m128 tmp0, tmp1, tmp2, tmp3, result;
    tmp0 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,0,2,1) );
    tmp1 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,1,0,2) );
    tmp2 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,0,2,1) );
    result = vec_mul( tmp0, tmp1 );
    result = vec_nmsub( tmp2, tmp3, result );
    return result;
}
/*
static VECTORMATH_FORCE_INLINE vec_uint4 _vmathVfToHalfFloatsUnpacked(__m128 v)
{
#if 0
    vec_int4 bexp;
    vec_uint4 mant, sign, hfloat;
    vec_uint4 notZero, isInf;
    const vec_uint4 hfloatInf = (vec_uint4)(0x00007c00u);
    const vec_uint4 mergeMant = (vec_uint4)(0x000003ffu);
    const vec_uint4 mergeSign = (vec_uint4)(0x00008000u);

    sign = vec_sr((vec_uint4)v, (vec_uint4)16);
    mant = vec_sr((vec_uint4)v, (vec_uint4)13);
    bexp = vec_and(vec_sr((vec_int4)v, (vec_uint4)23), (vec_int4)0xff);

    notZero = (vec_uint4)vec_cmpgt(bexp, (vec_int4)112);
    isInf = (vec_uint4)vec_cmpgt(bexp, (vec_int4)142);

    bexp = _mm_add_ps(bexp, (vec_int4)-112);
    bexp = vec_sl(bexp, (vec_uint4)10);

    hfloat = vec_sel((vec_uint4)bexp, mant, mergeMant);
    hfloat = vec_sel((vec_uint4)(0), hfloat, notZero);
    hfloat = vec_sel(hfloat, hfloatInf, isInf);
    hfloat = vec_sel(hfloat, sign, mergeSign);

    return hfloat;
#else
        assert(0);
        return _mm_setzero_ps();
#endif
}

static VECTORMATH_FORCE_INLINE vec_ushort8 _vmath2VfToHalfFloats(__m128 u, __m128 v)
{
#if 0
    vec_uint4 hfloat_u, hfloat_v;
    const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31};
    hfloat_u = _vmathVfToHalfFloatsUnpacked(u);
    hfloat_v = _vmathVfToHalfFloatsUnpacked(v);
    return (vec_ushort8)vec_perm(hfloat_u, hfloat_v, pack);
#else
        assert(0);
        return _mm_setzero_si128();
#endif
}
*/

static VECTORMATH_FORCE_INLINE __m128 _vmathVfInsert(__m128 dst, __m128 src, int slot)
{
        SSEFloat s;
        s.m128 = src;
        SSEFloat d;
        d.m128 = dst;
        d.f[slot] = s.f[slot];
        return d.m128;
}

#define _vmathVfSetElement(vec, scalar, slot) ((float *)&(vec))[slot] = scalar

static VECTORMATH_FORCE_INLINE __m128 _vmathVfSplatScalar(float scalar)
{
        return _mm_set1_ps(scalar);
}

#endif

namespace Vectormath {
namespace Aos {

        
#ifdef _VECTORMATH_NO_SCALAR_CAST
VECTORMATH_FORCE_INLINE VecIdx::operator floatInVec() const
{
    return floatInVec(ref, i);
}

VECTORMATH_FORCE_INLINE float VecIdx::getAsFloat() const
#else
VECTORMATH_FORCE_INLINE VecIdx::operator float() const
#endif
{
    return ((float *)&ref)[i];
}

VECTORMATH_FORCE_INLINE float VecIdx::operator =( float scalar )
{
    _vmathVfSetElement(ref, scalar, i);
    return scalar;
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator =( const floatInVec &scalar )
{
    ref = _vmathVfInsert(ref, scalar.get128(), i);
    return scalar;
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator =( const VecIdx& scalar )
{
    return *this = floatInVec(scalar.ref, scalar.i);
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator *=( float scalar )
{
    return *this *= floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator *=( const floatInVec &scalar )
{
    return *this = floatInVec(ref, i) * scalar;
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator /=( float scalar )
{
    return *this /= floatInVec(scalar);
}

inline floatInVec VecIdx::operator /=( const floatInVec &scalar )
{
    return *this = floatInVec(ref, i) / scalar;
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator +=( float scalar )
{
    return *this += floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator +=( const floatInVec &scalar )
{
    return *this = floatInVec(ref, i) + scalar;
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator -=( float scalar )
{
    return *this -= floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator -=( const floatInVec &scalar )
{
    return *this = floatInVec(ref, i) - scalar;
}

VECTORMATH_FORCE_INLINE Vector3::Vector3(const Vector3& vec)
{
    set128(vec.get128());
}

VECTORMATH_FORCE_INLINE void Vector3::set128(vec_float4 vec)
{
    mVec128 = vec;
}


VECTORMATH_FORCE_INLINE Vector3::Vector3( float _x, float _y, float _z )
{
    mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f);
}

VECTORMATH_FORCE_INLINE Vector3::Vector3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z )
{
        __m128 xz = _mm_unpacklo_ps( _x.get128(), _z.get128() );
        mVec128 = _mm_unpacklo_ps( xz, _y.get128() );
}

VECTORMATH_FORCE_INLINE Vector3::Vector3( const Point3 &pnt )
{
    mVec128 = pnt.get128();
}

VECTORMATH_FORCE_INLINE Vector3::Vector3( float scalar )
{
    mVec128 = floatInVec(scalar).get128();
}

VECTORMATH_FORCE_INLINE Vector3::Vector3( const floatInVec &scalar )
{
    mVec128 = scalar.get128();
}

VECTORMATH_FORCE_INLINE Vector3::Vector3( __m128 vf4 )
{
    mVec128 = vf4;
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::xAxis( )
{
    return Vector3( _VECTORMATH_UNIT_1000 );
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::yAxis( )
{
    return Vector3( _VECTORMATH_UNIT_0100 );
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::zAxis( )
{
    return Vector3( _VECTORMATH_UNIT_0010 );
}

VECTORMATH_FORCE_INLINE const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 )
{
    return lerp( floatInVec(t), vec0, vec1 );
}

VECTORMATH_FORCE_INLINE const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 )
{
    return ( vec0 + ( ( vec1 - vec0 ) * t ) );
}

VECTORMATH_FORCE_INLINE const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 )
{
    return slerp( floatInVec(t), unitVec0, unitVec1 );
}

VECTORMATH_FORCE_INLINE const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 )
{
    __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
    cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
    __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
    angle = acosf4( cosAngle );
    tttt = t.get128();
    oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt );
    angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t
    angles = _mm_unpacklo_ps( angles, oneMinusT );              // angles = 1, 1-t, t, 1-t
    angles = _mm_mul_ps( angles, angle );
    sines = sinf4( angles );
    scales = _mm_div_ps( sines, vec_splat( sines, 0 ) );
    scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask );
    scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask );
    return Vector3( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) );
}

VECTORMATH_FORCE_INLINE __m128 Vector3::get128( ) const
{
    return mVec128;
}

VECTORMATH_FORCE_INLINE void loadXYZ(Point3& vec, const float* fptr)
{
#ifdef USE_SSE3_LDDQU
        vec = Point3(   SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 );
#else
        SSEFloat fl;
        fl.f[0] = fptr[0];
        fl.f[1] = fptr[1];
        fl.f[2] = fptr[2];
        fl.f[3] = fptr[3];
    vec = Point3(       fl.m128);
#endif //USE_SSE3_LDDQU
        
}



VECTORMATH_FORCE_INLINE void loadXYZ(Vector3& vec, const float* fptr)
{
#ifdef USE_SSE3_LDDQU
        vec = Vector3(  SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 );
#else
        SSEFloat fl;
        fl.f[0] = fptr[0];
        fl.f[1] = fptr[1];
        fl.f[2] = fptr[2];
        fl.f[3] = fptr[3];
    vec = Vector3(      fl.m128);
#endif //USE_SSE3_LDDQU
        
}

VECTORMATH_FORCE_INLINE void storeXYZ( const Vector3 &vec, __m128 * quad )
{
        __m128 dstVec = *quad;
        VM_ATTRIBUTE_ALIGN16  unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize
        dstVec = vec_sel(vec.get128(), dstVec, sw);
        *quad = dstVec;
}

VECTORMATH_FORCE_INLINE void storeXYZ(const Point3& vec, float* fptr)
{
        fptr[0] = vec.getX();
        fptr[1] = vec.getY();
        fptr[2] = vec.getZ();
}

VECTORMATH_FORCE_INLINE void storeXYZ(const Vector3& vec, float* fptr)
{
        fptr[0] = vec.getX();
        fptr[1] = vec.getY();
        fptr[2] = vec.getZ();
}


VECTORMATH_FORCE_INLINE void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads )
{
        const float *quads = (float *)threeQuads;
    vec0 = Vector3(  _mm_load_ps(quads) );
    vec1 = Vector3( _mm_loadu_ps(quads + 3) );
    vec2 = Vector3( _mm_loadu_ps(quads + 6) );
    vec3 = Vector3( _mm_loadu_ps(quads + 9) );
}

VECTORMATH_FORCE_INLINE void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads )
{
        __m128 xxxx = _mm_shuffle_ps( vec1.get128(), vec1.get128(), _MM_SHUFFLE(0, 0, 0, 0) );
        __m128 zzzz = _mm_shuffle_ps( vec2.get128(), vec2.get128(), _MM_SHUFFLE(2, 2, 2, 2) );
        VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0, 0, 0, 0xffffffff};
        VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0xffffffff, 0, 0, 0};
        threeQuads[0] = vec_sel( vec0.get128(), xxxx, xsw );
    threeQuads[1] = _mm_shuffle_ps( vec1.get128(), vec2.get128(), _MM_SHUFFLE(1, 0, 2, 1) );
    threeQuads[2] = vec_sel( _mm_shuffle_ps( vec3.get128(), vec3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw );
}
/*
VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads )
{
        assert(0);
#if 0
    __m128 xyz0[3];
    __m128 xyz1[3];
    storeXYZArray( vec0, vec1, vec2, vec3, xyz0 );
    storeXYZArray( vec4, vec5, vec6, vec7, xyz1 );
    threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]);
    threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]);
    threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]);
#endif
}
*/
VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator =( const Vector3 &vec )
{
    mVec128 = vec.mVec128;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setX( float _x )
{
    _vmathVfSetElement(mVec128, _x, 0);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setX( const floatInVec &_x )
{
    mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector3::getX( ) const
{
    return floatInVec( mVec128, 0 );
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setY( float _y )
{
    _vmathVfSetElement(mVec128, _y, 1);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setY( const floatInVec &_y )
{
    mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector3::getY( ) const
{
    return floatInVec( mVec128, 1 );
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setZ( float _z )
{
    _vmathVfSetElement(mVec128, _z, 2);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setZ( const floatInVec &_z )
{
    mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector3::getZ( ) const
{
    return floatInVec( mVec128, 2 );
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setElem( int idx, float value )
{
    _vmathVfSetElement(mVec128, value, idx);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::setElem( int idx, const floatInVec &value )
{
    mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector3::getElem( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE VecIdx Vector3::operator []( int idx )
{
    return VecIdx( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const floatInVec Vector3::operator []( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator +( const Vector3 &vec ) const
{
    return Vector3( _mm_add_ps( mVec128, vec.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator -( const Vector3 &vec ) const
{
    return Vector3( _mm_sub_ps( mVec128, vec.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Point3 Vector3::operator +( const Point3 &pnt ) const
{
    return Point3( _mm_add_ps( mVec128, pnt.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator *( float scalar ) const
{
    return *this * floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator *( const floatInVec &scalar ) const
{
    return Vector3( _mm_mul_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator +=( const Vector3 &vec )
{
    *this = *this + vec;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator -=( const Vector3 &vec )
{
    *this = *this - vec;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator *=( float scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator *=( const floatInVec &scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator /( float scalar ) const
{
    return *this / floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator /( const floatInVec &scalar ) const
{
    return Vector3( _mm_div_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator /=( float scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator /=( const floatInVec &scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator -( ) const
{
        //return Vector3(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );

        VM_ATTRIBUTE_ALIGN16 static const int array[] = {0x80000000, 0x80000000, 0x80000000, 0x80000000};
        __m128 NEG_MASK = SSEFloat(*(const vec_float4*)array).vf;
        return Vector3(_mm_xor_ps(get128(),NEG_MASK));
}

VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar, const Vector3 &vec )
{
    return floatInVec(scalar) * vec;
}

VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec )
{
    return vec * scalar;
}

VECTORMATH_FORCE_INLINE const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 )
{
    return Vector3( _mm_mul_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 )
{
    return Vector3( _mm_div_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 recipPerElem( const Vector3 &vec )
{
    return Vector3( _mm_rcp_ps( vec.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 absPerElem( const Vector3 &vec )
{
    return Vector3( fabsf4( vec.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 )
{
        __m128 vmask = toM128(0x7fffffff);
        return Vector3( _mm_or_ps(
                _mm_and_ps   ( vmask, vec0.get128() ),                  // Value
                _mm_andnot_ps( vmask, vec1.get128() ) ) );              // Signs
}

VECTORMATH_FORCE_INLINE const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 )
{
    return Vector3( _mm_max_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector3 &vec )
{
    return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 )
{
    return Vector3( _mm_min_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector3 &vec )
{
    return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector3 &vec )
{
    return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 )
{
    return floatInVec( _vmathVfDot3( vec0.get128(), vec1.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector3 &vec )
{
    return floatInVec(  _vmathVfDot3( vec.get128(), vec.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec length( const Vector3 &vec )
{
    return floatInVec(  _mm_sqrt_ps(_vmathVfDot3( vec.get128(), vec.get128() )), 0 );
}


VECTORMATH_FORCE_INLINE const Vector3 normalizeApprox( const Vector3 &vec )
{
    return Vector3( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) );
}

VECTORMATH_FORCE_INLINE const Vector3 normalize( const Vector3 &vec )
{
        return Vector3( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) );
}

VECTORMATH_FORCE_INLINE const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 )
{
    return Vector3( _vmathVfCross( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 )
{
    return select( vec0, vec1, boolInVec(select1) );
}


VECTORMATH_FORCE_INLINE  const Vector4 select(const Vector4& vec0, const Vector4& vec1, const boolInVec& select1)
{
    return Vector4(vec_sel(vec0.get128(), vec1.get128(), select1.get128()));
}

#ifdef _VECTORMATH_DEBUG

VECTORMATH_FORCE_INLINE void print( const Vector3 &vec )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = vec.get128();
    printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] );
}

VECTORMATH_FORCE_INLINE void print( const Vector3 &vec, const char * name )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = vec.get128();
    printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] );
}

#endif

VECTORMATH_FORCE_INLINE Vector4::Vector4( float _x, float _y, float _z, float _w )
{
    mVec128 = _mm_setr_ps(_x, _y, _z, _w); 
 }

VECTORMATH_FORCE_INLINE Vector4::Vector4( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w )
{
        mVec128 = _mm_unpacklo_ps(
                _mm_unpacklo_ps( _x.get128(), _z.get128() ),
                _mm_unpacklo_ps( _y.get128(), _w.get128() ) );
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &xyz, float _w )
{
    mVec128 = xyz.get128();
    _vmathVfSetElement(mVec128, _w, 3);
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &xyz, const floatInVec &_w )
{
    mVec128 = xyz.get128();
    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &vec )
{
    mVec128 = vec.get128();
    mVec128 = _vmathVfInsert(mVec128, _mm_setzero_ps(), 3);
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const Point3 &pnt )
{
    mVec128 = pnt.get128();
    mVec128 = _vmathVfInsert(mVec128, _mm_set1_ps(1.0f), 3);
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const Quat &quat )
{
    mVec128 = quat.get128();
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( float scalar )
{
    mVec128 = floatInVec(scalar).get128();
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( const floatInVec &scalar )
{
    mVec128 = scalar.get128();
}

VECTORMATH_FORCE_INLINE Vector4::Vector4( __m128 vf4 )
{
    mVec128 = vf4;
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::xAxis( )
{
    return Vector4( _VECTORMATH_UNIT_1000 );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::yAxis( )
{
    return Vector4( _VECTORMATH_UNIT_0100 );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::zAxis( )
{
    return Vector4( _VECTORMATH_UNIT_0010 );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::wAxis( )
{
    return Vector4( _VECTORMATH_UNIT_0001 );
}

VECTORMATH_FORCE_INLINE const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 )
{
    return lerp( floatInVec(t), vec0, vec1 );
}

VECTORMATH_FORCE_INLINE const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 )
{
    return ( vec0 + ( ( vec1 - vec0 ) * t ) );
}

VECTORMATH_FORCE_INLINE const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 )
{
    return slerp( floatInVec(t), unitVec0, unitVec1 );
}

VECTORMATH_FORCE_INLINE const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 )
{
    __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
    cosAngle = _vmathVfDot4( unitVec0.get128(), unitVec1.get128() );
    __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
    angle = acosf4( cosAngle );
    tttt = t.get128();
    oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt );
    angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t
    angles = _mm_unpacklo_ps( angles, oneMinusT );              // angles = 1, 1-t, t, 1-t
    angles = _mm_mul_ps( angles, angle );
    sines = sinf4( angles );
    scales = _mm_div_ps( sines, vec_splat( sines, 0 ) );
    scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask );
    scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask );
    return Vector4( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) );
}

VECTORMATH_FORCE_INLINE __m128 Vector4::get128( ) const
{
    return mVec128;
}
/*
VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads )
{
    twoQuads[0] = _vmath2VfToHalfFloats(vec0.get128(), vec1.get128());
    twoQuads[1] = _vmath2VfToHalfFloats(vec2.get128(), vec3.get128());
}
*/
VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator =( const Vector4 &vec )
{
    mVec128 = vec.mVec128;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setXYZ( const Vector3 &vec )
{
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
        mVec128 = vec_sel( vec.get128(), mVec128, sw );
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 Vector4::getXYZ( ) const
{
    return Vector3( mVec128 );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setX( float _x )
{
    _vmathVfSetElement(mVec128, _x, 0);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setX( const floatInVec &_x )
{
    mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::getX( ) const
{
    return floatInVec( mVec128, 0 );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setY( float _y )
{
    _vmathVfSetElement(mVec128, _y, 1);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setY( const floatInVec &_y )
{
    mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::getY( ) const
{
    return floatInVec( mVec128, 1 );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setZ( float _z )
{
    _vmathVfSetElement(mVec128, _z, 2);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setZ( const floatInVec &_z )
{
    mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::getZ( ) const
{
    return floatInVec( mVec128, 2 );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setW( float _w )
{
    _vmathVfSetElement(mVec128, _w, 3);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setW( const floatInVec &_w )
{
    mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::getW( ) const
{
    return floatInVec( mVec128, 3 );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setElem( int idx, float value )
{
    _vmathVfSetElement(mVec128, value, idx);
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::setElem( int idx, const floatInVec &value )
{
    mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::getElem( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE VecIdx Vector4::operator []( int idx )
{
    return VecIdx( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const floatInVec Vector4::operator []( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator +( const Vector4 &vec ) const
{
    return Vector4( _mm_add_ps( mVec128, vec.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator -( const Vector4 &vec ) const
{
    return Vector4( _mm_sub_ps( mVec128, vec.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator *( float scalar ) const
{
    return *this * floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator *( const floatInVec &scalar ) const
{
    return Vector4( _mm_mul_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator +=( const Vector4 &vec )
{
    *this = *this + vec;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator -=( const Vector4 &vec )
{
    *this = *this - vec;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator *=( float scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator *=( const floatInVec &scalar )
{
    *this = *this * scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator /( float scalar ) const
{
    return *this / floatInVec(scalar);
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator /( const floatInVec &scalar ) const
{
    return Vector4( _mm_div_ps( mVec128, scalar.get128() ) );
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator /=( float scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator /=( const floatInVec &scalar )
{
    *this = *this / scalar;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator -( ) const
{
        return Vector4(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar, const Vector4 &vec )
{
    return floatInVec(scalar) * vec;
}

VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec )
{
    return vec * scalar;
}

VECTORMATH_FORCE_INLINE const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 )
{
    return Vector4( _mm_mul_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 )
{
    return Vector4( _mm_div_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector4 recipPerElem( const Vector4 &vec )
{
    return Vector4( _mm_rcp_ps( vec.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector4 absPerElem( const Vector4 &vec )
{
    return Vector4( fabsf4( vec.get128() ) );
}

VECTORMATH_FORCE_INLINE const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 )
{
        __m128 vmask = toM128(0x7fffffff);
        return Vector4( _mm_or_ps(
                _mm_and_ps   ( vmask, vec0.get128() ),                  // Value
                _mm_andnot_ps( vmask, vec1.get128() ) ) );              // Signs
}

VECTORMATH_FORCE_INLINE const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 )
{
    return Vector4( _mm_max_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector4 &vec )
{
    return floatInVec( _mm_max_ps(
                _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ),
                _mm_max_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) );
}

VECTORMATH_FORCE_INLINE const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 )
{
    return Vector4( _mm_min_ps( vec0.get128(), vec1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector4 &vec )
{
    return floatInVec( _mm_min_ps(
                _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ),
                _mm_min_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) );
}

VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector4 &vec )
{
    return floatInVec( _mm_add_ps(
                _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ),
                _mm_add_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) );
}

VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 )
{
    return floatInVec( _vmathVfDot4( vec0.get128(), vec1.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector4 &vec )
{
    return floatInVec(  _vmathVfDot4( vec.get128(), vec.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec length( const Vector4 &vec )
{
    return floatInVec(  _mm_sqrt_ps(_vmathVfDot4( vec.get128(), vec.get128() )), 0 );
}

VECTORMATH_FORCE_INLINE const Vector4 normalizeApprox( const Vector4 &vec )
{
    return Vector4( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) );
}

VECTORMATH_FORCE_INLINE const Vector4 normalize( const Vector4 &vec )
{
    return Vector4( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) );
}

VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 )
{
    return select( vec0, vec1, boolInVec(select1) );
}


#ifdef _VECTORMATH_DEBUG

VECTORMATH_FORCE_INLINE void print( const Vector4 &vec )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = vec.get128();
    printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
}

VECTORMATH_FORCE_INLINE void print( const Vector4 &vec, const char * name )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = vec.get128();
    printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] );
}

#endif

VECTORMATH_FORCE_INLINE Point3::Point3( float _x, float _y, float _z )
{
    mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f);
}

VECTORMATH_FORCE_INLINE Point3::Point3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z )
{
        mVec128 = _mm_unpacklo_ps( _mm_unpacklo_ps( _x.get128(), _z.get128() ), _y.get128() );
}

VECTORMATH_FORCE_INLINE Point3::Point3( const Vector3 &vec )
{
    mVec128 = vec.get128();
}

VECTORMATH_FORCE_INLINE Point3::Point3( float scalar )
{
    mVec128 = floatInVec(scalar).get128();
}

VECTORMATH_FORCE_INLINE Point3::Point3( const floatInVec &scalar )
{
    mVec128 = scalar.get128();
}

VECTORMATH_FORCE_INLINE Point3::Point3( __m128 vf4 )
{
    mVec128 = vf4;
}

VECTORMATH_FORCE_INLINE const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 )
{
    return lerp( floatInVec(t), pnt0, pnt1 );
}

VECTORMATH_FORCE_INLINE const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 )
{
    return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) );
}

VECTORMATH_FORCE_INLINE __m128 Point3::get128( ) const
{
    return mVec128;
}

VECTORMATH_FORCE_INLINE void storeXYZ( const Point3 &pnt, __m128 * quad )
{
    __m128 dstVec = *quad;
        VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize
    dstVec = vec_sel(pnt.get128(), dstVec, sw);
    *quad = dstVec;
}

VECTORMATH_FORCE_INLINE void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads )
{
        const float *quads = (float *)threeQuads;
    pnt0 = Point3(  _mm_load_ps(quads) );
    pnt1 = Point3( _mm_loadu_ps(quads + 3) );
    pnt2 = Point3( _mm_loadu_ps(quads + 6) );
    pnt3 = Point3( _mm_loadu_ps(quads + 9) );
}

VECTORMATH_FORCE_INLINE void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads )
{
        __m128 xxxx = _mm_shuffle_ps( pnt1.get128(), pnt1.get128(), _MM_SHUFFLE(0, 0, 0, 0) );
        __m128 zzzz = _mm_shuffle_ps( pnt2.get128(), pnt2.get128(), _MM_SHUFFLE(2, 2, 2, 2) );
        VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0, 0, 0, 0xffffffff};
        VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0xffffffff, 0, 0, 0};
        threeQuads[0] = vec_sel( pnt0.get128(), xxxx, xsw );
    threeQuads[1] = _mm_shuffle_ps( pnt1.get128(), pnt2.get128(), _MM_SHUFFLE(1, 0, 2, 1) );
    threeQuads[2] = vec_sel( _mm_shuffle_ps( pnt3.get128(), pnt3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw );
}
/*
VECTORMATH_FORCE_INLINE void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads )
{
#if 0
    __m128 xyz0[3];
    __m128 xyz1[3];
    storeXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 );
    storeXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 );
    threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]);
    threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]);
    threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]);
#else
        assert(0);
#endif
}
*/
VECTORMATH_FORCE_INLINE Point3 & Point3::operator =( const Point3 &pnt )
{
    mVec128 = pnt.mVec128;
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setX( float _x )
{
    _vmathVfSetElement(mVec128, _x, 0);
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setX( const floatInVec &_x )
{
    mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Point3::getX( ) const
{
    return floatInVec( mVec128, 0 );
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setY( float _y )
{
    _vmathVfSetElement(mVec128, _y, 1);
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setY( const floatInVec &_y )
{
    mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Point3::getY( ) const
{
    return floatInVec( mVec128, 1 );
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setZ( float _z )
{
    _vmathVfSetElement(mVec128, _z, 2);
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setZ( const floatInVec &_z )
{
    mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Point3::getZ( ) const
{
    return floatInVec( mVec128, 2 );
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setElem( int idx, float value )
{
    _vmathVfSetElement(mVec128, value, idx);
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::setElem( int idx, const floatInVec &value )
{
    mVec128 = _vmathVfInsert(mVec128, value.get128(), idx);
    return *this;
}

VECTORMATH_FORCE_INLINE const floatInVec Point3::getElem( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE VecIdx Point3::operator []( int idx )
{
    return VecIdx( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const floatInVec Point3::operator []( int idx ) const
{
    return floatInVec( mVec128, idx );
}

VECTORMATH_FORCE_INLINE const Vector3 Point3::operator -( const Point3 &pnt ) const
{
    return Vector3( _mm_sub_ps( mVec128, pnt.mVec128 ) );
}

VECTORMATH_FORCE_INLINE const Point3 Point3::operator +( const Vector3 &vec ) const
{
    return Point3( _mm_add_ps( mVec128, vec.get128() ) );
}

VECTORMATH_FORCE_INLINE const Point3 Point3::operator -( const Vector3 &vec ) const
{
    return Point3( _mm_sub_ps( mVec128, vec.get128() ) );
}

VECTORMATH_FORCE_INLINE Point3 & Point3::operator +=( const Vector3 &vec )
{
    *this = *this + vec;
    return *this;
}

VECTORMATH_FORCE_INLINE Point3 & Point3::operator -=( const Vector3 &vec )
{
    *this = *this - vec;
    return *this;
}

VECTORMATH_FORCE_INLINE const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 )
{
    return Point3( _mm_mul_ps( pnt0.get128(), pnt1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 )
{
    return Point3( _mm_div_ps( pnt0.get128(), pnt1.get128() ) );
}

VECTORMATH_FORCE_INLINE const Point3 recipPerElem( const Point3 &pnt )
{
    return Point3( _mm_rcp_ps( pnt.get128() ) );
}

VECTORMATH_FORCE_INLINE const Point3 absPerElem( const Point3 &pnt )
{
    return Point3( fabsf4( pnt.get128() ) );
}

VECTORMATH_FORCE_INLINE const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 )
{
        __m128 vmask = toM128(0x7fffffff);
        return Point3( _mm_or_ps(
                _mm_and_ps   ( vmask, pnt0.get128() ),                  // Value
                _mm_andnot_ps( vmask, pnt1.get128() ) ) );              // Signs
}

VECTORMATH_FORCE_INLINE const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 )
{
    return Point3( _mm_max_ps( pnt0.get128(), pnt1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Point3 &pnt )
{
    return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 )
{
    return Point3( _mm_min_ps( pnt0.get128(), pnt1.get128() ) );
}

VECTORMATH_FORCE_INLINE const floatInVec minElem( const Point3 &pnt )
{
    return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const floatInVec sum( const Point3 &pnt )
{
    return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) );
}

VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, float scaleVal )
{
    return scale( pnt, floatInVec( scaleVal ) );
}

VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal )
{
    return mulPerElem( pnt, Point3( scaleVal ) );
}

VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec )
{
    return mulPerElem( pnt, Point3( scaleVec ) );
}

VECTORMATH_FORCE_INLINE const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec )
{
    return floatInVec( _vmathVfDot3( pnt.get128(), unitVec.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec distSqrFromOrigin( const Point3 &pnt )
{
    return lengthSqr( Vector3( pnt ) );
}

VECTORMATH_FORCE_INLINE const floatInVec distFromOrigin( const Point3 &pnt )
{
    return length( Vector3( pnt ) );
}

VECTORMATH_FORCE_INLINE const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 )
{
    return lengthSqr( ( pnt1 - pnt0 ) );
}

VECTORMATH_FORCE_INLINE const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 )
{
    return length( ( pnt1 - pnt0 ) );
}

VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 )
{
    return select( pnt0, pnt1, boolInVec(select1) );
}

VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 )
{
    return Point3( vec_sel( pnt0.get128(), pnt1.get128(), select1.get128() ) );
}



#ifdef _VECTORMATH_DEBUG

VECTORMATH_FORCE_INLINE void print( const Point3 &pnt )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = pnt.get128();
    printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] );
}

VECTORMATH_FORCE_INLINE void print( const Point3 &pnt, const char * name )
{
    union { __m128 v; float s[4]; } tmp;
    tmp.v = pnt.get128();
    printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] );
}

#endif

} // namespace Aos
} // namespace Vectormath

#endif