bullet3

#ifndef B3_FLOAT4_H
#define B3_FLOAT4_H

#include "Bullet3Common/shared/b3PlatformDefinitions.h"

#ifdef __cplusplus
#include "Bullet3Common/b3Vector3.h"
#define b3Float4 b3Vector3
#define b3Float4ConstArg const b3Vector3&
#define b3Dot3F4 b3Dot
#define b3Cross3 b3Cross
#define b3MakeFloat4 b3MakeVector3
inline b3Vector3 b3Normalized(const b3Vector3& vec)
{
	return vec.normalized();
}

inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
{
	return v.normalized();
}

inline b3Float4 b3MaxFloat4(const b3Float4& a, const b3Float4& b)
{
	b3Float4 tmp = a;
	tmp.setMax(b);
	return tmp;
}
inline b3Float4 b3MinFloat4(const b3Float4& a, const b3Float4& b)
{
	b3Float4 tmp = a;
	tmp.setMin(b);
	return tmp;
}

#else
typedef float4 b3Float4;
#define b3Float4ConstArg const b3Float4
#define b3MakeFloat4 (float4)
float b3Dot3F4(b3Float4ConstArg v0, b3Float4ConstArg v1)
{
	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
	return dot(a1, b1);
}
b3Float4 b3Cross3(b3Float4ConstArg v0, b3Float4ConstArg v1)
{
	float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
	float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
	return cross(a1, b1);
}
#define b3MinFloat4 min
#define b3MaxFloat4 max

#define b3Normalized(a) normalize(a)

#endif

inline bool b3IsAlmostZero(b3Float4ConstArg v)
{
	if (b3Fabs(v.x) > 1e-6 || b3Fabs(v.y) > 1e-6 || b3Fabs(v.z) > 1e-6)
		return false;
	return true;
}

inline int b3MaxDot(b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut)
{
	float maxDot = -B3_INFINITY;
	int i = 0;
	int ptIndex = -1;
	for (i = 0; i < vecLen; i++)
	{
		float dot = b3Dot3F4(vecArray[i], vec);

		if (dot > maxDot)
		{
			maxDot = dot;
			ptIndex = i;
		}
	}
	b3Assert(ptIndex >= 0);
	if (ptIndex < 0)
	{
		ptIndex = 0;
	}
	*dotOut = maxDot;
	return ptIndex;
}

#endif  //B3_FLOAT4_H