include/foundation/PxVecMathAoSScalarInline.h

File members: include/foundation/PxVecMathAoSScalarInline.h

// 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 NVIDIA CORPORATION 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 ''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.
//
// Copyright (c) 2008-2024 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#ifndef PX_VEC_MATH_AOS_SCALAR_INLINE_H
#define PX_VEC_MATH_AOS_SCALAR_INLINE_H

#if COMPILE_VECTOR_INTRINSICS
#error Scalar version should not be included when using vector intrinsics.
#endif

#if PX_GCC_FAMILY
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wstrict-aliasing"
#endif

#if !PX_DOXYGEN
namespace physx
{
#endif
namespace aos
{

#define BOOL_TO_U32(b) PxU32(- PxI32(b))
#define TRUE_TO_U32 PxU32(-1)
#define FALSE_TO_U32 PxU32(0)

#define BOOL_TO_U16(b) PxU16(- PxI32(b))

#define PX_VECMATH_ASSERT_ENABLED 0

#if PX_VECMATH_ASSERT_ENABLED
#define VECMATHAOS_ASSERT(x) { PX_ASSERT(x); }
#else
#define VECMATHAOS_ASSERT(x)
#endif

namespace internalScalarSimd
{
PX_FORCE_INLINE PxF32 FStore(const FloatV a)
{
    return a.x;
}

PX_FORCE_INLINE bool hasZeroElementInFloatV(const FloatV a)
{
    return (0 == a.x);
}

PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
{
    return (0 == a.x || 0 == a.y || 0 == a.z);
}

PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
{
    return (0 == a.x || 0 == a.y || 0 == a.z || 0 == a.w);
}
}

namespace vecMathTests
{
// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V'
PX_FORCE_INLINE Vec3V getInvalidVec3V()
{
    Vec3V tmp;
    tmp.x = tmp.y = tmp.z = 0.0f;
    tmp.pad = 1.0f;
    return tmp;
}

PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b)
{
    return (a.x == b.x);
}

PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b)
{
    return (a.x == b.x && a.y == b.y && a.z == b.z);
}

PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b)
{
    return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
}

PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b)
{
    return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw);
}

PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b)
{
    return (a.u32[0] == b.u32[0] && a.u32[1] == b.u32[1] && a.u32[2] == b.u32[2] && a.u32[3] == b.u32[3]);
}

PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b)
{
    return (a.i32[0] == b.i32[0] && a.i32[1] == b.i32[1] && a.i32[2] == b.i32[2] && a.i32[3] == b.i32[3]);
}

#define VECMATH_AOS_EPSILON (1e-3f)

PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b)
{
    const PxF32 cx = a.x - b.x;
    return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON);
}

PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
{
    const PxF32 cx = a.x - b.x;
    const PxF32 cy = a.y - b.y;
    const PxF32 cz = a.z - b.z;
    return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON &&
            cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON);
}

PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
{
    const PxF32 cx = a.x - b.x;
    const PxF32 cy = a.y - b.y;
    const PxF32 cz = a.z - b.z;
    const PxF32 cw = a.w - b.w;
    return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON &&
            cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON &&
            cw > -VECMATH_AOS_EPSILON && cw < VECMATH_AOS_EPSILON);
}
}

PX_FORCE_INLINE bool isValidVec3V(const Vec3V a)
{
    return a.pad == 0.f;
}

PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
{
    return PxIsFinite(a.x);
}

PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
{
    return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z);
}

PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
{
    return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z) && PxIsFinite(a.w);
}

PX_FORCE_INLINE FloatV FLoad(const PxF32 f)
{
    return FloatV(f);
}

PX_FORCE_INLINE Vec3V V3Load(const PxF32 f)
{
    return Vec3V(f, f, f);
}

PX_FORCE_INLINE Vec4V V4Load(const PxF32 f)
{
    return Vec4V(f, f, f, f);
}

PX_FORCE_INLINE BoolV BLoad(const bool f)
{
#if PX_ARM
    // SD: Android ARM builds fail if this is done with a cast.
    // Might also fail because of something else but the select
    // operator here seems to fix everything that failed in release builds.
    return f ? BTTTT() : BFFFF();
#else
    return BoolV(BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f));
#endif
}

PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f)
{
    return Vec3V(f.x, f.y, f.z);
}

PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f)
{
    return Vec3V(f.x, f.y, f.z);
}

PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f)
{
    return Vec3V(f.x, f.y, f.z);
}

PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f)
{
    return Vec3V(f[0], f[1], f[2]);
}

PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const f)
{
    return Vec3V(f[0], f[1], f[2]);
}

PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V f)
{
    return Vec3V(f.x, f.y, f.z);
}

PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v)
{
    return Vec3V(v.x, v.y, v.z);
}

PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
{
    return Vec4V(f.x, f.y, f.z, 0.0f);
}

PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f)
{
    return Vec4V(f.x, f.x, f.x, f.x);
}

PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f)
{
    return Vec3V(f.x, f.x, f.x);
}

PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f)
{
    return Vec3V(f.x, f.x, f.x);
}

PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f)
{
    return Vec4V(f[0], f[1], f[2], f[3]);
}

PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f)
{
    *reinterpret_cast<Vec4V*>(f) = a;
}

PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f)
{
    *reinterpret_cast<PxVec4*>(f) = *reinterpret_cast<const PxVec4*>(&a.x);
}

PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f)
{
    *reinterpret_cast<BoolV*>(f) = a;
}

PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u)
{
    *reinterpret_cast<VecU32V*>(u) = uv;
}

PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i)
{
    *reinterpret_cast<VecI32V*>(i) = iv;
}

PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f)
{
    return Vec4V(f[0], f[1], f[2], f[3]);
}

PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f)
{
    return Vec4V(f[0], f[1], f[2], 0.0f);
}

PX_FORCE_INLINE BoolV BLoad(const bool* const f)
{
    return BoolV(BOOL_TO_U32(f[0]), BOOL_TO_U32(f[1]), BOOL_TO_U32(f[2]), BOOL_TO_U32(f[3]));
}

PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f)
{
    *f = a.x;
}

PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f)
{
    f = PxVec3(a.x, a.y, a.z);
}

PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f)
{
    f = PxVec3(a.x, a.y, a.z);
}

PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2)
{
    *b2 = b.ux;
}

// FLOATV

PX_FORCE_INLINE FloatV FZero()
{
    return FLoad(0.0f);
}

PX_FORCE_INLINE FloatV FOne()
{
    return FLoad(1.0f);
}

PX_FORCE_INLINE FloatV FHalf()
{
    return FLoad(0.5f);
}

PX_FORCE_INLINE FloatV FEps()
{
    return FLoad(PX_EPS_REAL);
}

PX_FORCE_INLINE FloatV FEps6()
{
    return FLoad(1e-6f);
}

PX_FORCE_INLINE FloatV FMax()
{
    return FLoad(PX_MAX_REAL);
}

PX_FORCE_INLINE FloatV FNegMax()
{
    return FLoad(-PX_MAX_REAL);
}

PX_FORCE_INLINE FloatV FNeg(const FloatV f)
{
    return FloatV(-f.x);
}

PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
{
    return FloatV(a.x + b.x);
}

PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
{
    return FloatV(a.x - b.x);
}

PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
{
    return FloatV(a.x * b.x);
}

PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(b.x != 0.0f);
    return FloatV(a.x / b.x);
}

PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(b.x != 0.0f);
    return FloatV(a.x / b.x);
}

PX_FORCE_INLINE FloatV FRecip(const FloatV a)
{
    VECMATHAOS_ASSERT(a.x != 0.0f);
    return 1.0f / a.x;
}

PX_FORCE_INLINE FloatV FRecipFast(const FloatV a)
{
    VECMATHAOS_ASSERT(a.x != 0.0f);
    return 1.0f / a.x;
}

PX_FORCE_INLINE FloatV FRsqrt(const FloatV a)
{
    VECMATHAOS_ASSERT(a.x != 0.0f);
    return PxRecipSqrt(a.x);
}

PX_FORCE_INLINE FloatV FSqrt(const FloatV a)
{
    return PxSqrt(a.x);
}

PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
{
    VECMATHAOS_ASSERT(a.x != 0.0f);
    return PxRecipSqrt(a.x);
}

PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
{
    return FAdd(FMul(a, b), c);
}

PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
{
    return FSub(c, FMul(a, b));
}

PX_FORCE_INLINE FloatV FAbs(const FloatV a)
{
    return FloatV(PxAbs(a.x));
}

PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
{
    return FloatV(c.ux ? a.x : b.x);
}

PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
{
    return BLoad(a.x > b.x);
}

PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
{
    return BLoad(a.x >= b.x);
}

PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
{
    return BLoad(a.x == b.x);
}

PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
{
    return (a.x > b.x ? FloatV(a.x) : FloatV(b.x));
}

PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
{
    return (a.x > b.x ? FloatV(b.x) : FloatV(a.x));
}

PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
{
    return FMax(FMin(a, maxV), minV);
}

PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b)
{
    return BOOL_TO_U32(a.x > b.x);
}

PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
{
    return BOOL_TO_U32(a.x >= b.x);
}
PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b)
{
    return BOOL_TO_U32(a.x == b.x);
}

PX_FORCE_INLINE FloatV FRound(const FloatV a)
{
    return floorf(a.x + 0.5f);
}

PX_FORCE_INLINE FloatV FSin(const FloatV a)
{
    return sinf(a.x);
}

PX_FORCE_INLINE FloatV FCos(const FloatV a)
{
    return cosf(a.x);
}

PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
{
    return BOOL_TO_U32(a.x > max.x || a.x < min.x);
}

PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
{
    return BOOL_TO_U32(a.x >= min.x && a.x <= max.x);
}

PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds)
{
    return FOutOfBounds(a, FNeg(bounds), bounds);
}

PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds)
{
    return FInBounds(a, FNeg(bounds), bounds);
}

// VEC3V

PX_FORCE_INLINE Vec3V V3Splat(const FloatV f)
{
    return Vec3V(f.x, f.x, f.x);
}

PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
{
    return Vec3V(x.x, y.x, z.x);
}

PX_FORCE_INLINE Vec3V V3UnitX()
{
    return Vec3V(1.0f, 0.0f, 0.0f);
}

PX_FORCE_INLINE Vec3V V3UnitY()
{
    return Vec3V(0.0f, 1.0f, 0.0f);
}

PX_FORCE_INLINE Vec3V V3UnitZ()
{
    return Vec3V(0.0f, 0.0f, 1.0f);
}

PX_FORCE_INLINE FloatV V3GetX(const Vec3V f)
{
    return FloatV(f.x);
}

PX_FORCE_INLINE FloatV V3GetY(const Vec3V f)
{
    return FloatV(f.y);
}

PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
{
    return FloatV(f.z);
}

PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
{
    return Vec3V(f.x, v.y, v.z);
}

PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
{
    return Vec3V(v.x, f.x, v.z);
}

PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
{
    return Vec3V(v.x, v.y, f.x);
}

PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
{
    return Vec3V(a.x, b.x, c.x);
}

PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
{
    return Vec3V(a.y, b.y, c.y);
}

PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
{
    return Vec3V(a.z, b.z, c.z);
}

PX_FORCE_INLINE Vec3V V3Zero()
{
    return V3Load(0.0f);
}

PX_FORCE_INLINE Vec3V V3One()
{
    return V3Load(1.0f);
}

PX_FORCE_INLINE Vec3V V3Eps()
{
    return V3Load(PX_EPS_REAL);
}

PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c)
{
    return Vec3V(-c.x, -c.y, -c.z);
}

PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x + b.x, a.y + b.y, a.z + b.z);
}

PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x - b.x, a.y - b.y, a.z - b.z);
}

PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
{
    return Vec3V(a.x * b.x, a.y * b.x, a.z * b.x);
}

PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x * b.x, a.y * b.y, a.z * b.z);
}

PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
{
    const PxF32 bInv = 1.0f / b.x;
    return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv);
}

PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z);
}

PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
{
    const PxF32 bInv = 1.0f / b.x;
    return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv);
}

PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z);
}

PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
{
    return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z);
}

PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
{
    return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z);
}

PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
{
    return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z));
}

PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
{
    return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z));
}

PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
{
    return V3Add(V3Scale(a, b), c);
}

PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
{
    return V3Sub(c, V3Scale(a, b));
}

PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
{
    return V3Add(V3Mul(a, b), c);
}

PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
{
    return V3Sub(c, V3Mul(a, b));
}

PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)
{
    return FloatV(a.x * b.x + a.y * b.y + a.z * b.z);
}

PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3VArg normal)
{
    return normal;
}

PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
}

PX_FORCE_INLINE FloatV V3Length(const Vec3V a)
{
    return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z));
}

PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
{
    return FloatV(a.x * a.x + a.y * a.y + a.z * a.z);
}

PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
{
    VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0);
    const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
    return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
}

PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue)
{
    const PxF32 length = PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
    if(PX_EPS_REAL >= length)
    {
        return unsafeReturnValue;
    }
    else
    {
        const PxF32 lengthInv = 1.0f / length;
        return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
    }
}

PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
{
    VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0);
    const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
    return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
}

PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
{
    return Vec3V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z);
}

PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
{
    return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), FALSE_TO_U32);
}

PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
{
    return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), TRUE_TO_U32);
}

PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
{
    return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), TRUE_TO_U32);
}

PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z);
}

PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
{
    return Vec3V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z);
}

PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
{
    const PxF32 t0 = (a.x >= a.y) ? a.x : a.y;
    return t0 >= a.z ? t0 : a.z;
}

PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
{
    const PxF32 t0 = (a.x <= a.y) ? a.x : a.y;
    return t0 <= a.z ? t0 : a.z;
}

// return (a >= 0.0f) ? 1.0f : -1.0f;
PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
{
    return Vec3V((a.x >= 0.f ? 1.f : -1.f), (a.y >= 0.f ? 1.f : -1.f), (a.z >= 0.f ? 1.f : -1.f));
}

PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
{
    return V3Max(V3Min(a, maxV), minV);
}

PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
{
    return V3Max(a, V3Neg(a));
}

PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b)
{
    return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z));
}

PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
{
    return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z));
}

PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b)
{
    return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z));
}

PX_FORCE_INLINE Vec3V V3Round(const Vec3V a)
{
    return Vec3V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f));
}

PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
{
    return Vec3V(sinf(a.x), sinf(a.y), sinf(a.z));
}

PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
{
    return Vec3V(cosf(a.x), cosf(a.y), cosf(a.z));
}

PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
{
    return Vec3V(a.y, a.z, a.z);
}

PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
{
    return Vec3V(a.x, a.y, a.x);
}

PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
{
    return Vec3V(a.y, a.z, a.x);
}

PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
{
    return Vec3V(a.z, a.x, a.y);
}

PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
{
    return Vec3V(a.z, a.z, a.y);
}

PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
{
    return Vec3V(a.y, a.x, a.x);
}

PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
{
    return Vec3V(0.0f, v1.z, v0.y);
}

PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
{
    return Vec3V(v0.z, 0.0f, v1.x);
}

PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
{
    return Vec3V(v1.y, v0.x, 0.0f);
}

PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
{
    return FloatV(a.x + a.y + a.z);
}

PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
{
    return BOOL_TO_U32(a.x > max.x || a.y > max.y || a.z > max.z || a.x < min.x || a.y < min.y || a.z < min.z);
}

PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
{
    return BOOL_TO_U32(a.x <= max.x && a.y <= max.y && a.z <= max.z && a.x >= min.x && a.y >= min.y && a.z >= min.z);
}

PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
{
    return V3OutOfBounds(a, V3Neg(bounds), bounds);
}

PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds)
{
    return V3InBounds(a, V3Neg(bounds), bounds);
}

PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2)
{
    const PxF32 t01 = col0.y, t02 = col0.z, t12 = col1.z;
    col0.y = col1.x;
    col0.z = col2.x;
    col1.z = col2.y;
    col1.x = t01;
    col2.x = t02;
    col2.y = t12;
}

// VEC4V

PX_FORCE_INLINE Vec4V V4Splat(const FloatV f)
{
    return Vec4V(f.x, f.x, f.x, f.x);
}

PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray)
{
    return Vec4V(floatVArray[0].x, floatVArray[1].x, floatVArray[2].x, floatVArray[3].x);
}

PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
{
    return Vec4V(x.x, y.x, z.x, w.x);
}

PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
{
    return Vec4V(x.w, y.w, z.w, w.w);
}

PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
{
    return Vec4V(x.z, y.z, z.z, w.z);
}

PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
{
    return Vec4V(x.y, y.y, z.y, w.y);
}

PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
{
    return Vec4V(x.x, y.x, z.x, w.x);
}

PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b)
{
    return Vec4V(a.x, b.x, a.y, b.y);
}

PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b)
{
    return Vec4V(a.z, b.z, a.w, b.w);
}

PX_FORCE_INLINE Vec4V V4UnitX()
{
    return Vec4V(1.0f, 0.0f, 0.0f, 0.0f);
}

PX_FORCE_INLINE Vec4V V4UnitY()
{
    return Vec4V(0.0f, 1.0f, 0.0f, 0.0f);
}

PX_FORCE_INLINE Vec4V V4UnitZ()
{
    return Vec4V(0.0f, 0.0f, 1.0f, 0.0f);
}

PX_FORCE_INLINE Vec4V V4UnitW()
{
    return Vec4V(0.0f, 0.0f, 0.0f, 1.0f);
}

PX_FORCE_INLINE FloatV V4GetX(const Vec4V f)
{
    return FloatV(f.x);
}

PX_FORCE_INLINE FloatV V4GetY(const Vec4V f)
{
    return FloatV(f.y);
}

PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
{
    return FloatV(f.z);
}

PX_FORCE_INLINE FloatV V4GetW(const Vec4V f)
{
    return FloatV(f.w);
}

PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
{
    return Vec4V(f.x, v.y, v.z, v.w);
}

PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
{
    return Vec4V(v.x, f.x, v.z, v.w);
}

PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
{
    return Vec4V(v.x, v.y, f.x, v.w);
}

PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
{
    return Vec4V(v.x, v.y, v.z, f.x);
}

PX_FORCE_INLINE Vec4V V4SetW(const Vec3V v, const FloatV f)
{
    return Vec4V(v.x, v.y, v.z, f.x);
}

PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v)
{
    return Vec4V(v.x, v.y, v.z, 0.0f);
}

PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v)
{
    return Vec4V(v.y, v.x, v.w, v.z);
}

PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v)
{
    return Vec4V(v.x, v.z, v.x, v.z);
}

PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v)
{
    return Vec4V(v.y, v.w, v.y, v.w);
}

PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v)
{
    return Vec4V(v.y, v.z, v.x, v.w);
}

PX_FORCE_INLINE Vec4V V4PermZWXY(const Vec4V v)
{
    return Vec4V(v.z, v.w, v.x, v.y);
}

template <PxU8 _x, PxU8 _y, PxU8 _z, PxU8 _w>
PX_FORCE_INLINE Vec4V V4Perm(const Vec4V v)
{
    const PxF32 f[4] = { v.x, v.y, v.z, v.w };
    return Vec4V(f[_x], f[_y], f[_z], f[_w]);
}

PX_FORCE_INLINE Vec4V V4Zero()
{
    return V4Load(0.0f);
}

PX_FORCE_INLINE Vec4V V4One()
{
    return V4Load(1.0f);
}

PX_FORCE_INLINE Vec4V V4Eps()
{
    return V4Load(PX_EPS_REAL);
}

PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c)
{
    return Vec4V(-c.x, -c.y, -c.z, -c.w);
}

PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
}

PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
}

PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
{
    return Vec4V(a.x * b.x, a.y * b.x, a.z * b.x, a.w * b.x);
}

PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w);
}

PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
{
    const PxF32 bInv = 1.0f / b.x;
    return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv);
}

PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
{
    VECMATHAOS_ASSERT(b.x != 0 && b.y != 0 && b.z != 0 && b.w != 0);
    return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w);
}

PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
{
    const PxF32 bInv = 1.0f / b.x;
    return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv);
}

PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w);
}

PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
{
    return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w);
}

PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
{
    return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w);
}

PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
{
    return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w));
}

PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
{
    return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w));
}

PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a)
{
    return Vec4V(PxSqrt(a.x), PxSqrt(a.y), PxSqrt(a.z), PxSqrt(a.w));
}

PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
{
    return V4Add(V4Scale(a, b), c);
}

PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
{
    return V4Sub(c, V4Scale(a, b));
}

PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
{
    return V4Add(V4Mul(a, b), c);
}

PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
{
    return V4Sub(c, V4Mul(a, b));
}

PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a)
{
    return FloatV(a.x + a.y + a.z + a.w);
}

PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
{
    return FloatV(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
}

PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b)
{
    return FloatV(a.x * b.x + a.y * b.y + a.z * b.z);
}

PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x, 0.0f);
}

PX_FORCE_INLINE FloatV V4Length(const Vec4V a)
{
    return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w));
}

PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
{
    return V4Dot(a, a);
}

PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
{
    VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w);
    const FloatV length = FloatV(V4Length(a));
    return V4ScaleInv(a, length);
}

PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue)
{
    const FloatV length = FloatV(V4Length(a));
    if(PX_EPS_REAL >= length.x)
    {
        return unsafeReturnValue;
    }
    else
    {
        return V4ScaleInv(a, length);
    }
}
PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
{
    VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w);
    const FloatV length = FloatV(V4Length(a));
    return V4ScaleInv(a, length);
}

PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
{
    return Vec4V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z, c.uw ? a.w : b.w);
}

PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
{
    return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), BOOL_TO_U32(a.w > b.w));
}

PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
{
    return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), BOOL_TO_U32(a.w >= b.w));
}

PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
{
    return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), BOOL_TO_U32(a.w == b.w));
}

PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z, a.w > b.w ? a.w : b.w);
}

PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
{
    return Vec4V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z, a.w < b.w ? a.w : b.w);
}

PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
{
    const PxF32 t0 = (a.x >= a.y) ? a.x : a.y;
    const PxF32 t1 = (a.z >= a.w) ? a.x : a.w;
    return t0 >= t1 ? t0 : t1;
}

PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
{
    const PxF32 t0 = (a.x <= a.y) ? a.x : a.y;
    const PxF32 t1 = (a.z <= a.w) ? a.x : a.w;
    return t0 <= t1 ? t0 : t1;
}

PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
{
    return V4Max(V4Min(a, maxV), minV);
}

PX_FORCE_INLINE Vec4V V4Round(const Vec4V a)
{
    return Vec4V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f), floorf(a.w + 0.5f));
}

PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
{
    return Vec4V(sinf(a.x), sinf(a.y), sinf(a.z), sinf(a.w));
}

PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
{
    return Vec4V(cosf(a.x), cosf(a.y), cosf(a.z), cosf(a.w));
}

PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b)
{
    return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z) & (a.w > b.w));
}

PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
{
    return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z) & (a.w >= b.w));
}

PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b)
{
    return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z));
}

PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b)
{
    return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z) & (a.w == b.w));
}

PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b)
{
    return BOOL_TO_U32((a.x > b.x) | (a.y > b.y) | (a.z > b.z));
}

PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3)
{
    const PxF32 t01 = col0.y, t02 = col0.z, t03 = col0.w;
    const PxF32 t12 = col1.z, t13 = col1.w;
    const PxF32 t23 = col2.w;
    col0.y = col1.x;
    col0.z = col2.x;
    col0.w = col3.x;
    col1.z = col2.y;
    col1.w = col3.y;
    col2.w = col3.z;
    col1.x = t01;
    col2.x = t02;
    col3.x = t03;
    col2.y = t12;
    col3.y = t13;
    col3.z = t23;
}

PX_FORCE_INLINE BoolV BFFFF()
{
    return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BFFFT()
{
    return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BFFTF()
{
    return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BFFTT()
{
    return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BFTFF()
{
    return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BFTFT()
{
    return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BFTTF()
{
    return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BFTTT()
{
    return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BTFFF()
{
    return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BTFFT()
{
    return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BTFTF()
{
    return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BTFTT()
{
    return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BTTFF()
{
    return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BTTFT()
{
    return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
}
PX_FORCE_INLINE BoolV BTTTF()
{
    return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
}
PX_FORCE_INLINE BoolV BTTTT()
{
    return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
}

PX_FORCE_INLINE BoolV BXMask()
{
    return BTFFF();
}
PX_FORCE_INLINE BoolV BYMask()
{
    return BFTFF();
}
PX_FORCE_INLINE BoolV BZMask()
{
    return BFFTF();
}
PX_FORCE_INLINE BoolV BWMask()
{
    return BFFFT();
}

PX_FORCE_INLINE BoolV BGetX(const BoolV a)
{
    return BoolV(a.ux, a.ux, a.ux, a.ux);
}

PX_FORCE_INLINE BoolV BGetY(const BoolV a)
{
    return BoolV(a.uy, a.uy, a.uy, a.uy);
}

PX_FORCE_INLINE BoolV BGetZ(const BoolV a)
{
    return BoolV(a.uz, a.uz, a.uz, a.uz);
}

PX_FORCE_INLINE BoolV BGetW(const BoolV a)
{
    return BoolV(a.uw, a.uw, a.uw, a.uw);
}

PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f)
{
    return BoolV(f.ux, v.uy, v.uz, v.uw);
}

PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f)
{
    return BoolV(v.ux, f.uy, v.uz, v.uw);
}

PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f)
{
    return BoolV(v.ux, v.uy, f.uz, v.uw);
}

PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f)
{
    return BoolV(v.ux, v.uy, v.uz, f.uw);
}

template <int index>
BoolV BSplatElement(BoolV a)
{
    PxU32* b = reinterpret_cast<PxU32*>(&a);
    return BoolV(b[index], b[index], b[index], b[index]);
}

PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
{
    return BoolV(BOOL_TO_U32(a.ux && b.ux), BOOL_TO_U32(a.uy && b.uy), BOOL_TO_U32(a.uz && b.uz), BOOL_TO_U32(a.uw && b.uw));
}

PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
{
    return BoolV(a.ux & ~b.ux, a.uy & ~b.uy, a.uz & ~b.uz, a.uw & ~b.uw);
}

PX_FORCE_INLINE BoolV BNot(const BoolV a)
{
    return BoolV(~a.ux, ~a.uy, ~a.uz, ~a.uw);
}

PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
{
    return BoolV(BOOL_TO_U32(a.ux || b.ux), BOOL_TO_U32(a.uy || b.uy), BOOL_TO_U32(a.uz || b.uz), BOOL_TO_U32(a.uw || b.uw));
}

PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b)
{
    return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw ? 1 : 0);
}

PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a)
{
    return BAllEq(a, BTTTT());
}

PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a)
{
    return BAllEq(a, BFFFF());
}

PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
{
    return (a.ux & a.uy & a.uz & a.uw) ? BTTTT() : BFFFF();
}

PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
{
    return (a.ux | a.uy | a.uz | a.uw) ? BTTTT() : BFFFF();
}

PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
{
    return (a.ux & a.uy & a.uz) ? BTTTT() : BFFFF();
}

PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
{
    return (a.ux | a.uy | a.uz) ? BTTTT() : BFFFF();
}

PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a)
{
    return (a.ux & 1) | (a.uy & 2) | (a.uz & 4) | (a.uw & 8);
}

// MAT33V

PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b)
{
    return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z,
                 a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z);
}

PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b)
{
    return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z,
                 a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z);
}

PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c)
{
    const FloatV x = V3GetX(b);
    const FloatV y = V3GetY(b);
    const FloatV z = V3GetZ(b);
    Vec3V result = V3ScaleAdd(A.col0, x, c);
    result = V3ScaleAdd(A.col1, y, result);
    return V3ScaleAdd(A.col2, z, result);
}

PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b)
{
    return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
}

PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b)
{
    return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2));
}

PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b)
{
    return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b));
}

PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b)
{
    return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2));
}

PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a)
{
    return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
}

PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a)
{
    return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
}

PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
{
    const Vec3V x = V3Mul(V3UnitX(), d);
    const Vec3V y = V3Mul(V3UnitY(), d);
    const Vec3V z = V3Mul(V3UnitZ(), d);
    return Mat33V(x, y, z);
}

PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a)
{
    const PxF32 det = a.col0.x * (a.col1.y * a.col2.z - a.col1.z * a.col2.y) -
                      a.col1.x * (a.col0.y * a.col2.z - a.col2.y * a.col0.z) +
                      a.col2.x * (a.col0.y * a.col1.z - a.col1.y * a.col0.z);

    const PxF32 invDet = 1.0f / det;

    Mat33V ret;
    ret.col0.x = invDet * (a.col1.y * a.col2.z - a.col2.y * a.col1.z);
    ret.col0.y = invDet * (a.col2.y * a.col0.z - a.col0.y * a.col2.z);
    ret.col0.z = invDet * (a.col0.y * a.col1.z - a.col1.y * a.col0.z);

    ret.col1.x = invDet * (a.col2.x * a.col1.z - a.col1.x * a.col2.z);
    ret.col1.y = invDet * (a.col0.x * a.col2.z - a.col2.x * a.col0.z);
    ret.col1.z = invDet * (a.col1.x * a.col0.z - a.col0.x * a.col1.z);

    ret.col2.x = invDet * (a.col1.x * a.col2.y - a.col2.x * a.col1.y);
    ret.col2.y = invDet * (a.col2.x * a.col0.y - a.col0.x * a.col2.y);
    ret.col2.z = invDet * (a.col0.x * a.col1.y - a.col1.x * a.col0.y);

    return ret;
}

PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m)
{
    return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2));
}

PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out)
{
    PX_ASSERT((size_t(&out) & 15) == 0);
    V3StoreU(m.col0, out.column0);
    V3StoreU(m.col1, out.column1);
    V3StoreU(m.col2, out.column2);
}

PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a)
{
    return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y),
                  Vec3V(a.col0.z, a.col1.z, a.col2.z));
}

PX_FORCE_INLINE Mat33V M33Identity()
{
    return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
}

// MAT34V

PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b)
{
    return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x,
                 a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y,
                 a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z);
}

PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b)
{
    return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z,
                 a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z);
}

PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b)
{
    return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z,
                 a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z);
}

PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b)
{
    return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3));
}

PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b)
{
    return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
}

PX_FORCE_INLINE Mat33V M34Mul33V3(const Mat34V& a, const Mat33V& b)
{
    return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
}

PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b)
{
    return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
}

PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b)
{
    return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3));
}

PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a)
{
    return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y),
                  Vec3V(a.col0.z, a.col1.z, a.col2.z));
}

// MAT44V

PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b)
{
    return Vec4V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x * b.w,
                 a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y * b.w,
                 a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z * b.w,
                 a.col0.w * b.x + a.col1.w * b.y + a.col2.w * b.z + a.col3.w * b.w);
}

PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b)
{
    return Vec4V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z + a.col0.w * b.w,
                 a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z + a.col1.w * b.w,
                 a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z + a.col2.w * b.w,
                 a.col3.x * b.x + a.col3.y * b.y + a.col3.z * b.z + a.col3.w * b.w);
}

PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b)
{
    return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3));
}

PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b)
{
    return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3));
}

PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a)
{
    PxF32 tmp[12];
    PxF32 dst[16];
    PxF32 det;

    const PxF32 src[16] = { a.col0.x, a.col0.y, a.col0.z, a.col0.w, a.col1.x, a.col1.y, a.col1.z, a.col1.w,
                            a.col2.x, a.col2.y, a.col2.z, a.col2.w, a.col3.x, a.col3.y, a.col3.z, a.col3.w };

    tmp[0] = src[10] * src[15];
    tmp[1] = src[11] * src[14];
    tmp[2] = src[9] * src[15];
    tmp[3] = src[11] * src[13];
    tmp[4] = src[9] * src[14];
    tmp[5] = src[10] * src[13];
    tmp[6] = src[8] * src[15];
    tmp[7] = src[11] * src[12];
    tmp[8] = src[8] * src[14];
    tmp[9] = src[10] * src[12];
    tmp[10] = src[8] * src[13];
    tmp[11] = src[9] * src[12];

    dst[0] = tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7];
    dst[0] -= tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7];
    dst[1] = tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7];
    dst[1] -= tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7];
    dst[2] = tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7];
    dst[2] -= tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7];
    dst[3] = tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6];
    dst[3] -= tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6];
    dst[4] = tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3];
    dst[4] -= tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3];
    dst[5] = tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3];
    dst[5] -= tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3];
    dst[6] = tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3];
    dst[6] -= tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3];
    dst[7] = tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2];
    dst[7] -= tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2];

    tmp[0] = src[2] * src[7];
    tmp[1] = src[3] * src[6];
    tmp[2] = src[1] * src[7];
    tmp[3] = src[3] * src[5];
    tmp[4] = src[1] * src[6];
    tmp[5] = src[2] * src[5];
    tmp[6] = src[0] * src[7];
    tmp[7] = src[3] * src[4];
    tmp[8] = src[0] * src[6];
    tmp[9] = src[2] * src[4];
    tmp[10] = src[0] * src[5];
    tmp[11] = src[1] * src[4];

    dst[8] = tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15];
    dst[8] -= tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15];
    dst[9] = tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15];
    dst[9] -= tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15];
    dst[10] = tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15];
    dst[10] -= tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15];
    dst[11] = tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14];
    dst[11] -= tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14];
    dst[12] = tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9];
    dst[12] -= tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10];
    dst[13] = tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10];
    dst[13] -= tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8];
    dst[14] = tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8];
    dst[14] -= tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9];
    dst[15] = tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9];
    dst[15] -= tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8];

    det = src[0] * dst[0] + src[1] * dst[1] + src[2] * dst[2] + src[3] * dst[3];

    det = 1.0f / det;
    for(PxU32 j = 0; j < 16; j++)
    {
        dst[j] *= det;
    }

    return Mat44V(Vec4V(dst[0], dst[4], dst[8], dst[12]), Vec4V(dst[1], dst[5], dst[9], dst[13]),
                  Vec4V(dst[2], dst[6], dst[10], dst[14]), Vec4V(dst[3], dst[7], dst[11], dst[15]));
}

PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a)
{
    return Mat44V(Vec4V(a.col0.x, a.col1.x, a.col2.x, a.col3.x), Vec4V(a.col0.y, a.col1.y, a.col2.y, a.col3.y),
                  Vec4V(a.col0.z, a.col1.z, a.col2.z, a.col3.z), Vec4V(a.col0.w, a.col1.w, a.col2.w, a.col3.w));
}

PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w)
{
    return Vec4V(x, y, z, w);
}

/*
PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b)
{
    return VecU16V(
        PxU16(PxClamp<PxU32>((a).u32[0], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((a).u32[1], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((a).u32[2], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((a).u32[3], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((b).u32[0], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((b).u32[1], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((b).u32[2], 0, 0xFFFF)),
        PxU16(PxClamp<PxU32>((b).u32[3], 0, 0xFFFF)));
}
*/

PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b)
{
    return VecU32V(c.ux ? a.u32[0] : b.u32[0], c.uy ? a.u32[1] : b.u32[1], c.uz ? a.u32[2] : b.u32[2],
                   c.uw ? a.u32[3] : b.u32[3]);
}

PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
{
    return VecU32V((a).u32[0] | (b).u32[0], (a).u32[1] | (b).u32[1], (a).u32[2] | (b).u32[2], (a).u32[3] | (b).u32[3]);
}

PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b)
{
    return VecU32V((a).u32[0] ^ (b).u32[0], (a).u32[1] ^ (b).u32[1], (a).u32[2] ^ (b).u32[2], (a).u32[3] ^ (b).u32[3]);
}

PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
{
    return VecU32V((a).u32[0] & (b).u32[0], (a).u32[1] & (b).u32[1], (a).u32[2] & (b).u32[2], (a).u32[3] & (b).u32[3]);
}

PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
{
    return VecU32V((a).u32[0] & ~(b).u32[0], (a).u32[1] & ~(b).u32[1], (a).u32[2] & ~(b).u32[2],
                   (a).u32[3] & ~(b).u32[3]);
}

/*
PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b)
{
    return VecU16V(
        (a).u16[0]|(b).u16[0], (a).u16[1]|(b).u16[1], (a).u16[2]|(b).u16[2], (a).u16[3]|(b).u16[3],
        (a).u16[4]|(b).u16[4], (a).u16[5]|(b).u16[5], (a).u16[6]|(b).u16[6], (a).u16[7]|(b).u16[7]);
}
*/

/*
PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b)
{
    return VecU16V(
        (a).u16[0]&(b).u16[0], (a).u16[1]&(b).u16[1], (a).u16[2]&(b).u16[2], (a).u16[3]&(b).u16[3],
        (a).u16[4]&(b).u16[4], (a).u16[5]&(b).u16[5], (a).u16[6]&(b).u16[6], (a).u16[7]&(b).u16[7]);
}
*/

/*
PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b)
{
    return VecU16V(
        (a).u16[0]&~(b).u16[0], (a).u16[1]&~(b).u16[1], (a).u16[2]&~(b).u16[2], (a).u16[3]&~(b).u16[3],
        (a).u16[4]&~(b).u16[4], (a).u16[5]&~(b).u16[5], (a).u16[6]&~(b).u16[6], (a).u16[7]&~(b).u16[7]);
}
*/

/*
template<int a> PX_FORCE_INLINE VecI32V V4ISplat()
{
    return VecI32V(a, a, a, a);
}

template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat()
{
    return VecU32V(a, a, a, a);
}
*/

/*
PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address)
{
    *address = val;
}
*/

PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address)
{
    *address = val;
}

PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
{
    VecU32V r = V4U32Andc(*reinterpret_cast<const VecU32V*>(&a), b);
    return (*reinterpret_cast<const Vec4V*>(&r));
}

PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
{
    return VecU32V(a.x > b.x ? 0xFFFFffff : 0, a.y > b.y ? 0xFFFFffff : 0, a.z > b.z ? 0xFFFFffff : 0,
                   a.w > b.w ? 0xFFFFffff : 0);
}

PX_FORCE_INLINE VecU16V V4U16LoadAligned(const VecU16V* addr)
{
    return *addr;
}

PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(const VecU16V* addr)
{
    return *addr;
}

PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
{
    return VecU16V
        (
        BOOL_TO_U16(a.u16[0] > b.u16[0]), BOOL_TO_U16(a.u16[1] > b.u16[1]), BOOL_TO_U16(a.u16[2] > b.u16[2]), BOOL_TO_U16(a.u16[3] > b.u16[3]),
        BOOL_TO_U16(a.u16[4] > b.u16[4]), BOOL_TO_U16(a.u16[5] > b.u16[5]), BOOL_TO_U16(a.u16[6] > b.u16[6]), BOOL_TO_U16(a.u16[7] > b.u16[7])
        );
}

PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b)
{
    return VecU16V
        (
        BOOL_TO_U16(a.i16[0] > b.i16[0]), BOOL_TO_U16(a.i16[1] > b.i16[1]), BOOL_TO_U16(a.i16[2] > b.i16[2]), BOOL_TO_U16(a.i16[3] > b.i16[3]),
        BOOL_TO_U16(a.i16[4] > b.i16[4]), BOOL_TO_U16(a.i16[5] > b.i16[5]), BOOL_TO_U16(a.i16[6] > b.i16[6]), BOOL_TO_U16(a.i16[7] > b.i16[7])
        );
}

PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
{
    return Vec4V(PxF32((a).u32[0]), PxF32((a).u32[1]), PxF32((a).u32[2]), PxF32((a).u32[3]));
}

PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a)
{
    return Vec4V(PxF32((a).i32[0]), PxF32((a).i32[1]), PxF32((a).i32[2]), PxF32((a).i32[3]));
}

PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a)
{
    float* data = reinterpret_cast<float*>(&a);
    return VecI32V(PxI32(data[0]), PxI32(data[1]), PxI32(data[2]), PxI32(data[3]));
}

PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a)
{
    Vec4V b = *reinterpret_cast<Vec4V*>(&a);
    return b;
}

PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a)
{
    Vec4V b = *reinterpret_cast<Vec4V*>(&a);
    return b;
}

PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a)
{
    VecU32V b = *reinterpret_cast<VecU32V*>(&a);
    return b;
}

PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a)
{
    VecI32V b = *reinterpret_cast<VecI32V*>(&a);
    return b;
}

template <int index>
PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
{
    return VecU32V((a).u32[index], (a).u32[index], (a).u32[index], (a).u32[index]);
}

template <int index>
PX_FORCE_INLINE VecU32V V4U32SplatElement(BoolV a)
{
    const PxU32 u = (&a.ux)[index];
    return VecU32V(u, u, u, u);
}

template <int index>
PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
{
    float* data = reinterpret_cast<float*>(&a);
    return Vec4V(data[index], data[index], data[index], data[index]);
}

PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w)
{
    return VecU32V(x, y, z, w);
}

PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
{
    return V4Max(a, V4Neg(a));
}

PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
{
    return BoolV(BOOL_TO_U32(a.u32[0] == b.u32[0]), BOOL_TO_U32(a.u32[1] == b.u32[1]), BOOL_TO_U32(a.u32[2] == b.u32[2]), BOOL_TO_U32(a.u32[3] == b.u32[3]));
}

PX_FORCE_INLINE VecU32V U4Load(const PxU32 i)
{
    return VecU32V(i, i, i, i);
}

PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i)
{
    return VecU32V(i[0], i[1], i[2], i[3]);
}

PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i)
{
    return VecU32V(i[0], i[1], i[2], i[3]);
}

PX_FORCE_INLINE VecI32V I4LoadXYZW(const PxI32& x, const PxI32& y, const PxI32& z, const PxI32& w)
{
    return VecI32V(x, y, z, w);
}

PX_FORCE_INLINE VecI32V I4Load(const PxI32 i)
{
    return VecI32V(i, i, i, i);
}

PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i)
{
    return VecI32V(i[0], i[1], i[2], i[3]);
}

PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i)
{
    return VecI32V(i[0], i[1], i[2], i[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
{
    return VecI32V(a.i32[0] + b.i32[0], a.i32[1] + b.i32[1], a.i32[2] + b.i32[2], a.i32[3] + b.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
{
    return VecI32V(a.i32[0] - b.i32[0], a.i32[1] - b.i32[1], a.i32[2] - b.i32[2], a.i32[3] - b.i32[3]);
}

PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
{
    return BoolV(BOOL_TO_U32(a.i32[0] > b.i32[0]), BOOL_TO_U32(a.i32[1] > b.i32[1]), BOOL_TO_U32(a.i32[2] > b.i32[2]), BOOL_TO_U32(a.i32[3] > b.i32[3]));
}

PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
{
    return BoolV(BOOL_TO_U32(a.i32[0] == b.i32[0]), BOOL_TO_U32(a.i32[1] == b.i32[1]), BOOL_TO_U32(a.i32[2] == b.i32[2]), BOOL_TO_U32(a.i32[3] == b.i32[3]));
}

PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b)
{
    return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2],
                   c.uw ? a.i32[3] : b.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Zero()
{
    return VecI32V(0, 0, 0, 0);
}

PX_FORCE_INLINE VecI32V VecI32V_One()
{
    return VecI32V(1, 1, 1, 1);
}

PX_FORCE_INLINE VecI32V VecI32V_Two()
{
    return VecI32V(2, 2, 2, 2);
}

PX_FORCE_INLINE VecI32V VecI32V_MinusOne()
{
    return VecI32V(-1, -1, -1, -1);
}

PX_FORCE_INLINE VecU32V U4Zero()
{
    return VecU32V(0, 0, 0, 0);
}

PX_FORCE_INLINE VecU32V U4One()
{
    return VecU32V(1, 1, 1, 1);
}

PX_FORCE_INLINE VecU32V U4Two()
{
    return VecU32V(2, 2, 2, 2);
}

PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift)
{
    return shift;
}

PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count)
{
    return VecI32V(a.i32[0] << count.i32[0], a.i32[1] << count.i32[1], a.i32[2] << count.i32[2], a.i32[3]
                                                                                                     << count.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count)
{
    return VecI32V(a.i32[0] >> count.i32[0], a.i32[1] >> count.i32[1], a.i32[2] >> count.i32[2],
                   a.i32[3] >> count.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const PxU32 count)
{
    return VecI32V(a.i32[0] << count, a.i32[1] << count, a.i32[2] << count, a.i32[3] << count);
}

PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const PxU32 count)
{
    return VecI32V(a.i32[0] >> count, a.i32[1] >> count, a.i32[2] >> count, a.i32[3] >> count);
}

PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b)
{
    return VecI32V(a.i32[0] & b.i32[0], a.i32[1] & b.i32[1], a.i32[2] & b.i32[2], a.i32[3] & b.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b)
{
    return VecI32V(a.i32[0] | b.i32[0], a.i32[1] | b.i32[1], a.i32[2] | b.i32[2], a.i32[3] | b.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a)
{
    return VecI32V(a.i32[0], a.i32[0], a.i32[0], a.i32[0]);
}

PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a)
{
    return VecI32V(a.i32[1], a.i32[1], a.i32[1], a.i32[1]);
}

PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a)
{
    return VecI32V(a.i32[2], a.i32[2], a.i32[2], a.i32[2]);
}

PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a)
{
    return VecI32V(a.i32[3], a.i32[3], a.i32[3], a.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b)
{
    return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2],
                   c.uw ? a.i32[3] : b.i32[3]);
}

PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c, const VecI32VArg d)
{
    return VecI32V(a.i32[0], b.i32[0], c.i32[0], d.i32[0]);
}

PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i)
{
    *i = a.i32[0];
}

PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b)
{
    return VecI32V(PxI32(b.ux), PxI32(b.uy), PxI32(b.uz), PxI32(b.uw));
}

PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b)
{
    return VecU32V(b.ux, b.uy, b.uz, b.uw);
}

PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
{
    const FloatV one = FOne();
    const FloatV x = V4GetX(q);
    const FloatV y = V4GetY(q);
    const FloatV z = V4GetZ(q);
    const FloatV w = V4GetW(q);

    const FloatV x2 = FAdd(x, x);
    const FloatV y2 = FAdd(y, y);
    const FloatV z2 = FAdd(z, z);

    const FloatV xx = FMul(x2, x);
    const FloatV yy = FMul(y2, y);
    const FloatV zz = FMul(z2, z);

    const FloatV xy = FMul(x2, y);
    const FloatV xz = FMul(x2, z);
    const FloatV xw = FMul(x2, w);

    const FloatV yz = FMul(y2, z);
    const FloatV yw = FMul(y2, w);
    const FloatV zw = FMul(z2, w);

    const FloatV v = FSub(one, xx);

    column0 = V3Merge(FSub(FSub(one, yy), zz), FAdd(xy, zw), FSub(xz, yw));
    column1 = V3Merge(FSub(xy, zw), FSub(v, zz), FAdd(yz, xw));
    column2 = V3Merge(FAdd(xz, yw), FSub(yz, xw), FSub(v, yy));
}

// not used

/*
PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr)
{
    return *addr;
}
*/

/*
PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr)
{
    return *addr;
}
*/

/*
PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V a)
{
    return Vec4V(PxCeil(a.x), PxCeil(a.y), PxCeil(a.z), PxCeil(a.w));
}

PX_FORCE_INLINE Vec4V V4Floor(const Vec4V a)
{
    return Vec4V(PxFloor(a.x), PxFloor(a.y), PxFloor(a.z), PxFloor(a.w));
}
*/

/*
PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power)
{
    PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate");
    PX_UNUSED(power); // prevent warning in release builds
    PxF32 ffffFFFFasFloat = PxF32(0xFFFF0000);
    return VecU32V(
        PxU32(PxClamp<PxF32>((a).x, 0.0f, ffffFFFFasFloat)),
        PxU32(PxClamp<PxF32>((a).y, 0.0f, ffffFFFFasFloat)),
        PxU32(PxClamp<PxF32>((a).z, 0.0f, ffffFFFFasFloat)),
        PxU32(PxClamp<PxF32>((a).w, 0.0f, ffffFFFFasFloat)));
}
*/

} // namespace aos
#if !PX_DOXYGEN
} // namespace physx
#endif

#if PX_GCC_FAMILY
#pragma GCC diagnostic pop
#endif

#endif