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#ifndef _VECTORMATH_QUAT_AOS_CPP_H
#define _VECTORMATH_QUAT_AOS_CPP_H

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

#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
#define _VECTORMATH_INTERNAL_FUNCTIONS

#endif

namespace Vectormath {
namespace Aos {

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

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



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

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





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

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

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

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

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

VECTORMATH_FORCE_INLINE const Quat Quat::identity( )
{
    return Quat( _VECTORMATH_UNIT_0001 );
}

VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 )
{
    return lerp( floatInVec(t), quat0, quat1 );
}

VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 )
{
    return ( quat0 + ( ( quat1 - quat0 ) * t ) );
}

VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 )
{
    return slerp( floatInVec(t), unitQuat0, unitQuat1 );
}

VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 )
{
    Quat start;
    vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines;
    __m128 selectMask;
    cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() );
    selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle );
    cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask );
    start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) );
    selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle );
    angle = acosf4( cosAngle );
    tttt = t.get128();
    oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt );
    angles = vec_mergeh( _mm_set1_ps(1.0f), tttt );
    angles = vec_mergeh( angles, oneMinusT );
    angles = vec_madd( angles, angle, _mm_setzero_ps() );
    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 Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) );
}

VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
{
    return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 );
}

VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 )
{
    return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) );
}

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

VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat )
{
    mVec128 = quat.mVec128;
    return *this;
}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat )
{
    *this = *this + quat;
    return *this;
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat )
{
    *this = *this - quat;
    return *this;
}

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

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

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

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

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

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

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

VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat )
{
    return floatInVec(scalar) * quat;
}

VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat )
{
    return quat * scalar;
}

VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 )
{
    return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 );
}

VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat )
{
    return floatInVec(  _vmathVfDot4( quat.get128(), quat.get128() ), 0 );
}

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

VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat )
{
	vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128());
    return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) );
}


VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 )
{
    Vector3 crossVec;
    __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res;
    cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() );
    cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) );
    recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 );
    cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 );
    crossVec = cross( unitVec0, unitVec1 );
    res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 );
	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotation( float radians, const Vector3 &unitVec )
{
    return rotation( floatInVec(radians), unitVec );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians )
{
    return rotationX( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
	VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0xffffffff, 0, 0, 0};
	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, xsw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( float radians )
{
    return rotationY( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
	VM_ATTRIBUTE_ALIGN16 unsigned int ysw[4] = {0, 0xffffffff, 0, 0};
	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, ysw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( float radians )
{
    return rotationZ( floatInVec(radians) );
}

VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const floatInVec &radians )
{
    __m128 s, c, angle, res;
    angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) );
    sincosf4( angle, &s, &c );
	VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0, 0, 0xffffffff, 0};
	VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff};
    res = vec_sel( _mm_setzero_ps(), s, zsw );
    res = vec_sel( res, c, wsw );
    return Quat( res );
}

VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const Quat &quat ) const
{
    __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3;
    __m128 product, l_wxyz, r_wxyz, xy, qw;
    ldata = mVec128;
    rdata = quat.mVec128;
    tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) );
    tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) );
    tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) );
    qv = vec_mul( vec_splat( ldata, 3 ), rdata );
    qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv );
    qv = vec_madd( tmp0, tmp1, qv );
    qv = vec_nmsub( tmp2, tmp3, qv );
    product = vec_mul( ldata, rdata );
    l_wxyz = vec_sld( ldata, ldata, 12 );
    r_wxyz = vec_sld( rdata, rdata, 12 );
    qw = vec_nmsub( l_wxyz, r_wxyz, product );
    xy = vec_madd( l_wxyz, r_wxyz, product );
    qw = vec_sub( qw, vec_sld( xy, xy, 8 ) );
	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff};
    return Quat( vec_sel( qv, qw, sw ) );
}

VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat )
{
    *this = *this * quat;
    return *this;
}

VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &quat, const Vector3 &vec )
{    __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res;
    qdata = quat.get128();
    vdata = vec.get128();
    tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) );
    tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) );
    tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) );
    wwww = vec_splat( qdata, 3 );
    qv = vec_mul( wwww, vdata );
    qv = vec_madd( tmp0, tmp1, qv );
    qv = vec_nmsub( tmp2, tmp3, qv );
    product = vec_mul( qdata, vdata );
    qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product );
    qw = vec_add( vec_sld( product, product, 8 ), qw );
    tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) );
    tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) );
    res = vec_mul( vec_splat( qw, 0 ), qdata );
    res = vec_madd( wwww, qv, res );
    res = vec_madd( tmp0, tmp1, res );
    res = vec_nmsub( tmp2, tmp3, res );
    return Vector3( res );
}

VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat )
{
	VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0};
    return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) );
}

VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 )
{
    return select( quat0, quat1, boolInVec(select1) );
}

//VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 )
//{
//    return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) );
//}

VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr)
{
#ifdef USE_SSE3_LDDQU
	quat = Quat(	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];
    quat = Quat(	fl.m128);
#endif
    

}

VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr)
{
	fptr[0] = quat.getX();
	fptr[1] = quat.getY();
	fptr[2] = quat.getZ();
	fptr[3] = quat.getW();
//    _mm_storeu_ps((float*)quat.get128(),fptr);
}



#ifdef _VECTORMATH_DEBUG

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

#endif

} // namespace Aos
} // namespace Vectormath

#endif
