/****************************************************************************
**
** Copyright (C) 2008-2012 NVIDIA Corporation.
** Copyright (C) 2017 The Qt Company Ltd.
** Contact: https://www.qt.io/licensing/
**
** This file is part of Qt 3D Studio.
**
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** accordance with the commercial license agreement provided with the
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** Alternatively, this file may be used under the terms of the GNU
** General Public License version 3 or (at your option) any later version
** approved by the KDE Free Qt Foundation. The licenses are as published by
** the Free Software Foundation and appearing in the file LICENSE.GPL3
** included in the packaging of this file. Please review the following
** information to ensure the GNU General Public License requirements will
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//
//   Copyright (c) 2001 Intel Corporation.
//
// Permition is granted to use, copy, distribute and prepare derivative works
// of this library for any purpose and without fee, provided, that the above
// copyright notice and this statement appear in all copies.
// Intel makes no representations about the suitability of this library for
// any purpose, and specifically disclaims all warranties.
// See LEGAL.TXT for all the legal information.
//

#ifndef QT3DS_WINDOWS_INLINE_AOS_H
#define QT3DS_WINDOWS_INLINE_AOS_H

#if !COMPILE_VECTOR_INTRINSICS
#error Vector intrinsics should not be included when using scalar implementation.
#endif

// Remove this define when all platforms use simd solver.
#define QT3DS_SUPPORT_SIMD

QT3DS_FORCE_INLINE __m128 m128_I2F(__m128i n)
{
    return _mm_castsi128_ps(n);
}
QT3DS_FORCE_INLINE __m128i m128_F2I(__m128 n)
{
    return _mm_castps_si128(n);
}

QT3DS_FORCE_INLINE QT3DSU32 BAllTrue4_R(const BoolV a)
{
    const QT3DSI32 moveMask = _mm_movemask_ps(a);
    return moveMask == (0xf);
}

QT3DS_FORCE_INLINE QT3DSU32 BAnyTrue4_R(const BoolV a)
{
    const QT3DSI32 moveMask = _mm_movemask_ps(a);
    return moveMask != (0x0);
}

QT3DS_FORCE_INLINE QT3DSU32 BAllTrue3_R(const BoolV a)
{
    const QT3DSI32 moveMask = _mm_movemask_ps(a);
    return (moveMask & 0x7) == (0x7);
}

QT3DS_FORCE_INLINE QT3DSU32 BAnyTrue3_R(const BoolV a)
{
    const QT3DSI32 moveMask = _mm_movemask_ps(a);
    return (moveMask & 0x7) != (0x0);
}

/////////////////////////////////////////////////////////////////////
////FUNCTIONS USED ONLY FOR ASSERTS IN VECTORISED IMPLEMENTATIONS
/////////////////////////////////////////////////////////////////////

QT3DS_FORCE_INLINE QT3DSU32 FiniteTestEq(const Vec4V a, const Vec4V b)
{
    // This is a bit of a bodge.
    //_mm_comieq_ss returns 1 if either value is nan so we need to re-cast a and b with true encoded
    //as a non-nan number.
    // There must be a better way of doing this in sse.
    const BoolV one = FOne();
    const BoolV zero = FZero();
    const BoolV a1 = V4Sel(a, one, zero);
    const BoolV b1 = V4Sel(b, one, zero);
    return (_mm_comieq_ss(a1, b1) && _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(1, 1, 1, 1)),
                                                   _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(1, 1, 1, 1)))
            && _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(2, 2, 2, 2)),
                             _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(2, 2, 2, 2)))
            && _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 3, 3, 3)),
                             _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(3, 3, 3, 3))));
}

QT3DS_FORCE_INLINE bool isValidFloatV(const FloatV a)
{
    return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)),
                          _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)))
            && _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)),
                             _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)))
            && _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)),
                             _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3))));
}

QT3DS_FORCE_INLINE bool isValidVec3V(const Vec3V a)
{
    return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3)), FZero()) ? true : false);
}

QT3DS_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
{
    const QT3DSU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
    const FloatV vBadNum = FloatV_From_F32((QT3DSF32 &)badNumber);
    const BoolV vMask = BAnd(vBadNum, a);
    return FiniteTestEq(vMask, BFFFF()) == 1;
}

QT3DS_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
{
    const QT3DSU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
    const Vec3V vBadNum = Vec3V_From_F32((QT3DSF32 &)badNumber);
    const BoolV vMask = BAnd(BAnd(vBadNum, a), BTTTF());
    return FiniteTestEq(vMask, BFFFF()) == 1;
}

QT3DS_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
{
    /*Vec4V a;
    QT3DS_ALIGN(16, QT3DSF32 f[4]);
    F32Array_Aligned_From_Vec4V(a, f);
    return NVIsFinite(f[0])
                    && NVIsFinite(f[1])
                    && NVIsFinite(f[2])
                    && NVIsFinite(f[3]);*/

    const QT3DSU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
    const Vec4V vBadNum = Vec4V_From_F32((QT3DSF32 &)badNumber);
    const BoolV vMask = BAnd(vBadNum, a);

    return FiniteTestEq(vMask, BFFFF()) == 1;
}

QT3DS_FORCE_INLINE bool hasZeroElementinFloatV(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ? true : false);
}

QT3DS_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero())
            || _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero())
            || _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()));
}

QT3DS_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
{
    return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero())
            || _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero())
            || _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero())
            || _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3)), FZero()));
}

/////////////////////////////////////////////////////////////////////
////VECTORISED FUNCTION IMPLEMENTATIONS
/////////////////////////////////////////////////////////////////////

QT3DS_FORCE_INLINE FloatV FloatV_From_F32(const QT3DSF32 f)
{
    return (_mm_load1_ps(&f));
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_F32(const QT3DSF32 f)
{
    return _mm_set_ps(0.0f, f, f, f);
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_F32(const QT3DSF32 f)
{
    return (_mm_load1_ps(&f));
}

QT3DS_FORCE_INLINE BoolV BoolV_From_Bool32(const bool f)
{
    const QT3DSU32 i = -(QT3DSI32)f;
    return _mm_load1_ps((float *)&i);
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_NVVec3_Aligned(const QT3DSVec3 &f)
{
    VECMATHAOS_ASSERT(0 == ((size_t)&f & 0x0f));
    return (_mm_set_ps(0.0f, f.z, f.y, f.x));
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_NVVec3(const QT3DSVec3 &f)
{
    return (_mm_set_ps(0.0f, f.z, f.y, f.x));
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_NVVec3_WUndefined(const QT3DSVec3 &f)
{
    return (_mm_set_ps(0.0f, f.z, f.y, f.x));
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v)
{
    return V4SetW(v, V4Zero());
}

QT3DS_FORCE_INLINE Vec3V Vec3V_From_F32Array_Aligned(const QT3DSF32 *const f)
{
    VECMATHAOS_ASSERT(0 == ((QT3DSU64)f & 0x0f));
    return (_mm_load_ps(f));
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
{
    return f; // ok if it is implemented as the same type.
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_NVVec3_WUndefined(const QT3DSVec3 &f)
{
    return (_mm_set_ps(0.0f, f.z, f.y, f.x));
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_F32Array_Aligned(const QT3DSF32 *const f)
{
    VECMATHAOS_ASSERT(0 == ((QT3DSU64)f & 0x0f));
    return (_mm_load_ps(f));
}

QT3DS_FORCE_INLINE void F32Array_Aligned_From_Vec4V(const Vec4V a, QT3DSF32 *f)
{
    VECMATHAOS_ASSERT(0 == ((QT3DSU64)f & 0x0f));
    _mm_store_ps(f, a);
}

QT3DS_FORCE_INLINE void NVU32Array_Aligned_From_BoolV(const BoolV a, QT3DSU32 *f)
{
    VECMATHAOS_ASSERT(0 == ((QT3DSU64)f & 0x0f));
    _mm_store_ps((QT3DSF32 *)f, a);
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_F32Array(const QT3DSF32 *const f)
{
    return (_mm_loadu_ps(f));
}

QT3DS_FORCE_INLINE BoolV BoolV_From_Bool32Array(const bool *const f)
{
    const QT3DS_ALIGN(16, QT3DSU32 b[4]) = { -(QT3DSI32)f[0], -(QT3DSI32)f[1], -(QT3DSI32)f[2], -(QT3DSI32)f[3] };
    return _mm_load1_ps((float *)&b);
}

QT3DS_FORCE_INLINE QT3DSF32 NVF32_From_FloatV(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    QT3DSF32 f;
    _mm_store_ss(&f, a);
    return f;
}

QT3DS_FORCE_INLINE void NVF32_From_FloatV(const FloatV a, QT3DSF32 *QT3DS_RESTRICT f)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    _mm_store_ss(f, a);
}

QT3DS_FORCE_INLINE void NVVec3Aligned_From_Vec3V(const Vec3V a, QT3DSVec3 &f)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(0 == ((int)&a & 0x0F));
    VECMATHAOS_ASSERT(0 == ((int)&f & 0x0F));
    QT3DS_ALIGN(16, QT3DSF32 f2[4]);
    _mm_store_ps(f2, a);
    f = QT3DSVec3(f2[0], f2[1], f2[2]);
}

QT3DS_FORCE_INLINE void Store_From_BoolV(const BoolV b, QT3DSU32 *b2)
{
    _mm_store_ss((QT3DSF32 *)b2, b);
}

QT3DS_FORCE_INLINE void NVVec3_From_Vec3V(const Vec3V a, QT3DSVec3 &f)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(0 == ((int)&a & 0x0F));
    QT3DS_ALIGN(16, QT3DSF32 f2[4]);
    _mm_store_ps(f2, a);
    f = QT3DSVec3(f2[0], f2[1], f2[2]);
}

QT3DS_FORCE_INLINE Mat33V Mat33V_From_NVMat33(const QT3DSMat33 &m)
{
    return Mat33V(Vec3V_From_NVVec3(m.column0), Vec3V_From_NVVec3(m.column1),
                  Vec3V_From_NVVec3(m.column2));
}

QT3DS_FORCE_INLINE void NVMat33_From_Mat33V(const Mat33V &m, QT3DSMat33 &out)
{
    QT3DS_ASSERT((size_t(&out) & 15) == 0);
    NVVec3_From_Vec3V(m.col0, out.column0);
    NVVec3_From_Vec3V(m.col1, out.column1);
    NVVec3_From_Vec3V(m.col2, out.column2);
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsEqualFloatV(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return (_mm_comieq_ss(a, b) != 0);
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsEqualVec3V(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return V3AllEq(a, b) != 0;
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsEqualVec4V(const Vec4V a, const Vec4V b)
{
    return V4AllEq(a, b) != 0;
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsEqualBoolV(const BoolV a, const BoolV b)
{
    return BAllTrue4_R(VecI32V_IsEq(a, b)) != 0;
}

#define VECMATH_AOS_EPSILON (1e-3f)

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsNearEqualFloatV(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    const FloatV c = FSub(a, b);
    static const FloatV minError = FloatV_From_F32(-VECMATH_AOS_EPSILON);
    static const FloatV maxError = FloatV_From_F32(VECMATH_AOS_EPSILON);
    return (_mm_comigt_ss(c, minError) && _mm_comilt_ss(c, maxError));
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    const Vec3V c = V3Sub(a, b);
    static const Vec3V minError = Vec3V_From_F32(-VECMATH_AOS_EPSILON);
    static const Vec3V maxError = Vec3V_From_F32(VECMATH_AOS_EPSILON);
    return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError)
            && _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError)
            && _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError));
}

QT3DS_FORCE_INLINE bool _VecMathTests::allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
{
    const Vec4V c = V4Sub(a, b);
    static const Vec4V minError = Vec4V_From_F32(-VECMATH_AOS_EPSILON);
    static const Vec4V maxError = Vec4V_From_F32(VECMATH_AOS_EPSILON);
    return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError)
            && _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError)
            && _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError)
            && _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), minError)
            && _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), maxError));
}

//////////////////////////////////
// FLOATV
//////////////////////////////////

QT3DS_FORCE_INLINE FloatV FZero()
{
    return FloatV_From_F32(0.0f);
}

QT3DS_FORCE_INLINE FloatV FOne()
{
    return FloatV_From_F32(1.0f);
}

QT3DS_FORCE_INLINE FloatV FHalf()
{
    return FloatV_From_F32(0.5f);
}

QT3DS_FORCE_INLINE FloatV FEps()
{
    return FloatV_From_F32(QT3DS_ENV_REAL);
}

QT3DS_FORCE_INLINE FloatV FEps6()
{
    return FloatV_From_F32(1e-6f);
}

QT3DS_FORCE_INLINE FloatV FMax()
{
    return FloatV_From_F32(QT3DS_MAX_REAL);
}

QT3DS_FORCE_INLINE FloatV FNegMax()
{
    return FloatV_From_F32(-QT3DS_MAX_REAL);
}

QT3DS_FORCE_INLINE FloatV IZero()
{
    const QT3DSU32 zero = 0;
    return _mm_load1_ps((QT3DSF32 *)&zero);
}

QT3DS_FORCE_INLINE FloatV IOne()
{
    const QT3DSU32 one = 1;
    return _mm_load1_ps((QT3DSF32 *)&one);
}

QT3DS_FORCE_INLINE FloatV ITwo()
{
    const QT3DSU32 two = 2;
    return _mm_load1_ps((QT3DSF32 *)&two);
}

QT3DS_FORCE_INLINE FloatV IThree()
{
    const QT3DSU32 three = 3;
    return _mm_load1_ps((QT3DSF32 *)&three);
}

QT3DS_FORCE_INLINE FloatV IFour()
{
    QT3DSU32 four = 4;
    return _mm_load1_ps((QT3DSF32 *)&four);
}

QT3DS_FORCE_INLINE FloatV FNeg(const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return _mm_sub_ps(_mm_setzero_ps(), f);
}

QT3DS_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_add_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_sub_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_mul_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_div_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_mul_ps(a, _mm_rcp_ps(b));
}

QT3DS_FORCE_INLINE FloatV FRecip(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    return _mm_div_ps(FOne(), a);
}

QT3DS_FORCE_INLINE FloatV FRecipFast(const FloatV a)
{
    return _mm_rcp_ps(a);
}

QT3DS_FORCE_INLINE FloatV FRsqrt(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    return _mm_div_ps(FOne(), _mm_sqrt_ps(a));
}

QT3DS_FORCE_INLINE FloatV FSqrt(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    return _mm_sqrt_ps(a);
}

QT3DS_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
{
    return _mm_rsqrt_ps(a);
}

QT3DS_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    VECMATHAOS_ASSERT(isValidFloatV(c));
    return FAdd(FMul(a, b), c);
}

QT3DS_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    VECMATHAOS_ASSERT(isValidFloatV(c));
    return FSub(c, FMul(a, b));
}

QT3DS_FORCE_INLINE FloatV FAbs(const FloatV a)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    QT3DS_ALIGN(16, const static QT3DSU32 absMask[4]) = { 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF,
                                                    0x7fFFffFF };
    return _mm_and_ps(a, _mm_load_ps((QT3DSF32 *)absMask));
}

QT3DS_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(_VecMathTests::allElementsEqualBoolV(c, BTTTT())
                      || _VecMathTests::allElementsEqualBoolV(c, BFFFF()));
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
}

QT3DS_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_cmpgt_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_cmpge_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_cmpeq_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_max_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_min_ps(a, b);
}

QT3DS_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(minV));
    VECMATHAOS_ASSERT(isValidFloatV(maxV));
    return FMax(FMin(a, maxV), minV);
}

QT3DS_FORCE_INLINE QT3DSU32 FAllGrtr(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return (_mm_comigt_ss(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));

    return (_mm_comige_ss(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 FAllEq(const FloatV a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));

    return (_mm_comieq_ss(a, b));
}

QT3DS_FORCE_INLINE FloatV FRound(const FloatV a)
{
    // return _mm_round_ps(a, 0x0);
    const Vec3V half = Vec3V_From_F32(0.5f);
    const Vec3V aPlusHalf = V3Add(a, half);
    __m128i tmp = _mm_cvttps_epi32(aPlusHalf);
    return _mm_cvtepi32_ps(tmp);
}

QT3DS_FORCE_INLINE FloatV FSin(const FloatV a)
{
    // Vec4V V1, V2, V3, V5, V7, V9, V11, V13, V15, V17, V19, V21, V23;
    // Vec4V S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11;
    FloatV Result;

    // Modulo the range of the given angles such that -XM_PI <= Angles < XM_PI
    const FloatV twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const FloatV tmp = FMul(a, twoPi);
    const FloatV b = FRound(tmp);
    const FloatV V1 = FNegMulSub(twoPi, b, a);

    // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
    //           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
    const FloatV V2 = FMul(V1, V1);
    const FloatV V3 = FMul(V2, V1);
    const FloatV V5 = FMul(V3, V2);
    const FloatV V7 = FMul(V5, V2);
    const FloatV V9 = FMul(V7, V2);
    const FloatV V11 = FMul(V9, V2);
    const FloatV V13 = FMul(V11, V2);
    const FloatV V15 = FMul(V13, V2);
    const FloatV V17 = FMul(V15, V2);
    const FloatV V19 = FMul(V17, V2);
    const FloatV V21 = FMul(V19, V2);
    const FloatV V23 = FMul(V21, V2);

    const Vec4V sinCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients0.f);
    const Vec4V sinCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients1.f);
    const Vec4V sinCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients2.f);

    const FloatV S1 = V4GetY(sinCoefficients0);
    const FloatV S2 = V4GetZ(sinCoefficients0);
    const FloatV S3 = V4GetW(sinCoefficients0);
    const FloatV S4 = V4GetX(sinCoefficients1);
    const FloatV S5 = V4GetY(sinCoefficients1);
    const FloatV S6 = V4GetZ(sinCoefficients1);
    const FloatV S7 = V4GetW(sinCoefficients1);
    const FloatV S8 = V4GetX(sinCoefficients2);
    const FloatV S9 = V4GetY(sinCoefficients2);
    const FloatV S10 = V4GetZ(sinCoefficients2);
    const FloatV S11 = V4GetW(sinCoefficients2);

    Result = FMulAdd(S1, V3, V1);
    Result = FMulAdd(S2, V5, Result);
    Result = FMulAdd(S3, V7, Result);
    Result = FMulAdd(S4, V9, Result);
    Result = FMulAdd(S5, V11, Result);
    Result = FMulAdd(S6, V13, Result);
    Result = FMulAdd(S7, V15, Result);
    Result = FMulAdd(S8, V17, Result);
    Result = FMulAdd(S9, V19, Result);
    Result = FMulAdd(S10, V21, Result);
    Result = FMulAdd(S11, V23, Result);

    return Result;
}

QT3DS_FORCE_INLINE FloatV FCos(const FloatV a)
{
    // XMVECTOR V1, V2, V4, V6, V8, V10, V12, V14, V16, V18, V20, V22;
    // XMVECTOR C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, C11;
    FloatV Result;

    // Modulo the range of the given angles such that -XM_PI <= Angles < XM_PI
    const FloatV twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const FloatV tmp = FMul(a, twoPi);
    const FloatV b = FRound(tmp);
    const FloatV V1 = FNegMulSub(twoPi, b, a);

    // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
    //           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
    const FloatV V2 = FMul(V1, V1);
    const FloatV V4 = FMul(V2, V2);
    const FloatV V6 = FMul(V4, V2);
    const FloatV V8 = FMul(V4, V4);
    const FloatV V10 = FMul(V6, V4);
    const FloatV V12 = FMul(V6, V6);
    const FloatV V14 = FMul(V8, V6);
    const FloatV V16 = FMul(V8, V8);
    const FloatV V18 = FMul(V10, V8);
    const FloatV V20 = FMul(V10, V10);
    const FloatV V22 = FMul(V12, V10);

    const Vec4V cosCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients0.f);
    const Vec4V cosCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients1.f);
    const Vec4V cosCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients2.f);

    const FloatV C1 = V4GetY(cosCoefficients0);
    const FloatV C2 = V4GetZ(cosCoefficients0);
    const FloatV C3 = V4GetW(cosCoefficients0);
    const FloatV C4 = V4GetX(cosCoefficients1);
    const FloatV C5 = V4GetY(cosCoefficients1);
    const FloatV C6 = V4GetZ(cosCoefficients1);
    const FloatV C7 = V4GetW(cosCoefficients1);
    const FloatV C8 = V4GetX(cosCoefficients2);
    const FloatV C9 = V4GetY(cosCoefficients2);
    const FloatV C10 = V4GetZ(cosCoefficients2);
    const FloatV C11 = V4GetW(cosCoefficients2);

    Result = FMulAdd(C1, V2, V4One());
    Result = FMulAdd(C2, V4, Result);
    Result = FMulAdd(C3, V6, Result);
    Result = FMulAdd(C4, V8, Result);
    Result = FMulAdd(C5, V10, Result);
    Result = FMulAdd(C6, V12, Result);
    Result = FMulAdd(C7, V14, Result);
    Result = FMulAdd(C8, V16, Result);
    Result = FMulAdd(C9, V18, Result);
    Result = FMulAdd(C10, V20, Result);
    Result = FMulAdd(C11, V22, Result);

    return Result;
}

QT3DS_FORCE_INLINE QT3DSU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
{
    const BoolV ffff = BFFFF();
    const BoolV c = BOr(FIsGrtr(a, max), FIsGrtr(min, a));
    return !BAllEq(c, ffff);
}

QT3DS_FORCE_INLINE QT3DSU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
{
    const BoolV tttt = BTTTT();
    const BoolV c = BAnd(FIsGrtrOrEq(a, min), FIsGrtrOrEq(max, a));
    return BAllEq(c, tttt);
}

QT3DS_FORCE_INLINE QT3DSU32 FOutOfBounds(const FloatV a, const FloatV bounds)
{
    return FOutOfBounds(a, FNeg(bounds), bounds);
}

QT3DS_FORCE_INLINE QT3DSU32 FInBounds(const FloatV a, const FloatV bounds)
{
    return FInBounds(a, FNeg(bounds), bounds);
}

//////////////////////////////////
// VEC3V
//////////////////////////////////

QT3DS_FORCE_INLINE Vec3V V3Splat(const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    const __m128 zero = V3Zero();
    const __m128 fff0 = _mm_move_ss(f, zero);
    return _mm_shuffle_ps(fff0, fff0, _MM_SHUFFLE(0, 1, 2, 3));
}

QT3DS_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
{
    VECMATHAOS_ASSERT(isValidFloatV(x));
    VECMATHAOS_ASSERT(isValidFloatV(y));
    VECMATHAOS_ASSERT(isValidFloatV(z));
    // static on zero causes compiler crash on x64 debug_opt
    const __m128 zero = V3Zero();
    const __m128 xy = _mm_move_ss(x, y);
    const __m128 z0 = _mm_move_ss(zero, z);

    return _mm_shuffle_ps(xy, z0, _MM_SHUFFLE(1, 0, 0, 1));
}

QT3DS_FORCE_INLINE Vec3V V3UnitX()
{
    const QT3DS_ALIGN(16, QT3DSF32 x[4]) = { 1.0f, 0.0f, 0.0f, 0.0f };
    const __m128 x128 = _mm_load_ps(x);
    return x128;
}

QT3DS_FORCE_INLINE Vec3V V3UnitY()
{
    const QT3DS_ALIGN(16, QT3DSF32 y[4]) = { 0.0f, 1.0f, 0.0f, 0.0f };
    const __m128 y128 = _mm_load_ps(y);
    return y128;
}

QT3DS_FORCE_INLINE Vec3V V3UnitZ()
{
    const QT3DS_ALIGN(16, QT3DSF32 z[4]) = { 0.0f, 0.0f, 1.0f, 0.0f };
    const __m128 z128 = _mm_load_ps(z);
    return z128;
}

QT3DS_FORCE_INLINE FloatV V3GetX(const Vec3V f)
{
    VECMATHAOS_ASSERT(isValidVec3V(f));
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
}

QT3DS_FORCE_INLINE FloatV V3GetY(const Vec3V f)
{
    VECMATHAOS_ASSERT(isValidVec3V(f));
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
}

QT3DS_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
{
    VECMATHAOS_ASSERT(isValidVec3V(f));
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
}

QT3DS_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidVec3V(v));
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V3Sel(BFTTT(), v, f);
}

QT3DS_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidVec3V(v));
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V3Sel(BTFTT(), v, f);
}

QT3DS_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidVec3V(v));
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V3Sel(BTTFT(), v, f);
}

QT3DS_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
{
    Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 0, 3, 0));
    return V3SetY(r, V3GetX(b));
}

QT3DS_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
{
    Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 1, 3, 1));
    return V3SetY(r, V3GetY(b));
}

QT3DS_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
{
    Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 2, 3, 2));
    return V3SetY(r, V3GetZ(b));
}

QT3DS_FORCE_INLINE Vec3V V3Zero()
{
    return Vec3V_From_F32(0.0f);
}

QT3DS_FORCE_INLINE Vec3V V3One()
{
    return Vec3V_From_F32(1.0f);
}

QT3DS_FORCE_INLINE Vec3V V3Eps()
{
    return Vec3V_From_F32(QT3DS_ENV_REAL);
}

QT3DS_FORCE_INLINE Vec3V V3Neg(const Vec3V f)
{
    VECMATHAOS_ASSERT(isValidVec3V(f));
    return _mm_sub_ps(_mm_setzero_ps(), f);
}

QT3DS_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_add_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_sub_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_mul_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_mul_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_div_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    // why are these here?
    // static const __m128 one=V3One();
    // static const __m128 tttf=BTTTF();
    // const __m128 b1=V3Sel(tttf,b,one);
    return _mm_div_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_mul_ps(a, _mm_rcp_ps(b));
}

QT3DS_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    const __m128 one = V3One();
    const __m128 tttf = BTTTF();
    const __m128 b1 = V3Sel(tttf, b, one);
    return _mm_mul_ps(a, _mm_rcp_ps(b1));
}

QT3DS_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 tttf = BTTTF();
    const __m128 recipA = _mm_div_ps(V3One(), a);
    return V3Sel(tttf, recipA, zero);
}

QT3DS_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 tttf = BTTTF();
    const __m128 recipA = _mm_rcp_ps(a);
    return V3Sel(tttf, recipA, zero);
}

QT3DS_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 tttf = BTTTF();
    const __m128 recipA = _mm_div_ps(V3One(), _mm_sqrt_ps(a));
    return V3Sel(tttf, recipA, zero);
}

QT3DS_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 tttf = BTTTF();
    const __m128 recipA = _mm_rsqrt_ps(a);
    return V3Sel(tttf, recipA, zero);
}

QT3DS_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    VECMATHAOS_ASSERT(isValidVec3V(c));
    return V3Add(V3Scale(a, b), c);
}

QT3DS_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidFloatV(b));
    VECMATHAOS_ASSERT(isValidVec3V(c));
    return V3Sub(c, V3Scale(a, b));
}

QT3DS_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    VECMATHAOS_ASSERT(isValidVec3V(c));
    return V3Add(V3Mul(a, b), c);
}

QT3DS_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    VECMATHAOS_ASSERT(isValidVec3V(c));
    return V3Sub(c, V3Mul(a, b));
}

QT3DS_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return V3Max(a, V3Neg(a));
}

QT3DS_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    __m128 dot1 = _mm_mul_ps(a, b); // w,z,y,x
    //__m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2,1,0,3));	//z,y,x,w
    //__m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1,0,3,2));	//y,x,w,z
    //__m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0,3,2,1));	//x,w,z,y
    // return _mm_add_ps(_mm_add_ps(shuf2, shuf3), _mm_add_ps(dot1,shuf1));

    __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w
    __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z
    __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y
    return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);
}

QT3DS_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
    __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
    __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
    __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
    return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2));
}

QT3DS_FORCE_INLINE FloatV V3Length(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_sqrt_ps(V3Dot(a, a));
}

QT3DS_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return V3Dot(a, a);
}

QT3DS_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(V3Dot(a, a) != FZero())
    return V3ScaleInv(a, _mm_sqrt_ps(V3Dot(a, a)));
}

QT3DS_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return V3Mul(a, _mm_rsqrt_ps(V3Dot(a, a)));
}

QT3DS_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 eps = V3Eps();
    const __m128 length = V3Length(a);
    const __m128 isGreaterThanZero = FIsGrtr(length, eps);
    return V3Sel(isGreaterThanZero, V3ScaleInv(a, length), zero);
}

QT3DS_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
}

QT3DS_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_cmpgt_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_cmpge_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_cmpeq_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_max_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(b));
    return _mm_min_ps(a, b);
}

// Extract the maximum value from a
QT3DS_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
{
    const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
    const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
    const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));

    return _mm_max_ps(_mm_max_ps(shuf1, shuf2), shuf3);
}

// Extract the maximum value from a
QT3DS_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
{
    const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
    const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
    const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));

    return _mm_min_ps(_mm_min_ps(shuf1, shuf2), shuf3);
}

//// if(a > 0.0f) return 1.0f; else if a == 0.f return 0.f, else return -1.f;
// QT3DS_FORCE_INLINE Vec3V V3MathSign(const Vec3V a)
//{
//	VECMATHAOS_ASSERT(isValidVec3V(a));
//
//	const __m128i ai = _mm_cvtps_epi32(a);
//	const __m128i bi = _mm_cvtps_epi32(V3Neg(a));
//	const __m128  aa = _mm_cvtepi32_ps(_mm_srai_epi32(ai, 31));
//	const __m128  bb = _mm_cvtepi32_ps(_mm_srai_epi32(bi, 31));
//	return _mm_or_ps(aa, bb);
//}

// return (a >= 0.0f) ? 1.0f : -1.0f;
QT3DS_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    const __m128 zero = V3Zero();
    const __m128 one = V3One();
    const __m128 none = V3Neg(one);
    return V3Sel(V3IsGrtrOrEq(a, zero), one, none);
}

QT3DS_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(minV));
    VECMATHAOS_ASSERT(isValidVec3V(maxV));
    return V3Max(V3Min(a, maxV), minV);
}

QT3DS_FORCE_INLINE QT3DSU32 V3AllGrtr(const Vec3V a, const Vec3V b)
{
    return BAllTrue3_R(V4IsGrtr(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
{
    return BAllTrue3_R(V4IsGrtrOrEq(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 V3AllEq(const Vec3V a, const Vec3V b)
{
    return BAllTrue3_R(V4IsEq(a, b));
}

QT3DS_FORCE_INLINE Vec3V V3Round(const Vec3V a)
{
    // return _mm_round_ps(a, 0x0);
    const Vec3V half = Vec3V_From_F32(0.5f);
    const Vec3V aPlusHalf = V3Add(a, half);
    const __m128i tmp = _mm_cvttps_epi32(aPlusHalf);
    return _mm_cvtepi32_ps(tmp);
}

QT3DS_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
{
    // Vec4V V1, V2, V3, V5, V7, V9, V11, V13, V15, V17, V19, V21, V23;
    // Vec4V S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11;
    Vec3V Result;

    // Modulo the range of the given angles such that -XM_PI <= Angles < XM_PI
    const Vec3V twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const Vec3V tmp = V3Mul(a, twoPi);
    const Vec3V b = V3Round(tmp);
    const Vec3V V1 = V3NegMulSub(twoPi, b, a);

    // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
    //           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
    const Vec3V V2 = V3Mul(V1, V1);
    const Vec3V V3 = V3Mul(V2, V1);
    const Vec3V V5 = V3Mul(V3, V2);
    const Vec3V V7 = V3Mul(V5, V2);
    const Vec3V V9 = V3Mul(V7, V2);
    const Vec3V V11 = V3Mul(V9, V2);
    const Vec3V V13 = V3Mul(V11, V2);
    const Vec3V V15 = V3Mul(V13, V2);
    const Vec3V V17 = V3Mul(V15, V2);
    const Vec3V V19 = V3Mul(V17, V2);
    const Vec3V V21 = V3Mul(V19, V2);
    const Vec3V V23 = V3Mul(V21, V2);

    const Vec4V sinCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients0.f);
    const Vec4V sinCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients1.f);
    const Vec4V sinCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients2.f);

    const FloatV S1 = V4GetY(sinCoefficients0);
    const FloatV S2 = V4GetZ(sinCoefficients0);
    const FloatV S3 = V4GetW(sinCoefficients0);
    const FloatV S4 = V4GetX(sinCoefficients1);
    const FloatV S5 = V4GetY(sinCoefficients1);
    const FloatV S6 = V4GetZ(sinCoefficients1);
    const FloatV S7 = V4GetW(sinCoefficients1);
    const FloatV S8 = V4GetX(sinCoefficients2);
    const FloatV S9 = V4GetY(sinCoefficients2);
    const FloatV S10 = V4GetZ(sinCoefficients2);
    const FloatV S11 = V4GetW(sinCoefficients2);

    Result = V3MulAdd(S1, V3, V1);
    Result = V3MulAdd(S2, V5, Result);
    Result = V3MulAdd(S3, V7, Result);
    Result = V3MulAdd(S4, V9, Result);
    Result = V3MulAdd(S5, V11, Result);
    Result = V3MulAdd(S6, V13, Result);
    Result = V3MulAdd(S7, V15, Result);
    Result = V3MulAdd(S8, V17, Result);
    Result = V3MulAdd(S9, V19, Result);
    Result = V3MulAdd(S10, V21, Result);
    Result = V3MulAdd(S11, V23, Result);

    return Result;
}

QT3DS_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
{
    // XMVECTOR V1, V2, V4, V6, V8, V10, V12, V14, V16, V18, V20, V22;
    // XMVECTOR C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, C11;
    Vec3V Result;

    // Modulo the range of the given angles such that -XM_PI <= Angles < XM_PI
    const Vec3V twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const Vec3V tmp = V3Mul(a, twoPi);
    const Vec3V b = V3Round(tmp);
    const Vec3V V1 = V3NegMulSub(twoPi, b, a);

    // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
    //           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
    const Vec3V V2 = V3Mul(V1, V1);
    const Vec3V V4 = V3Mul(V2, V2);
    const Vec3V V6 = V3Mul(V4, V2);
    const Vec3V V8 = V3Mul(V4, V4);
    const Vec3V V10 = V3Mul(V6, V4);
    const Vec3V V12 = V3Mul(V6, V6);
    const Vec3V V14 = V3Mul(V8, V6);
    const Vec3V V16 = V3Mul(V8, V8);
    const Vec3V V18 = V3Mul(V10, V8);
    const Vec3V V20 = V3Mul(V10, V10);
    const Vec3V V22 = V3Mul(V12, V10);

    const Vec4V cosCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients0.f);
    const Vec4V cosCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients1.f);
    const Vec4V cosCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients2.f);

    const FloatV C1 = V4GetY(cosCoefficients0);
    const FloatV C2 = V4GetZ(cosCoefficients0);
    const FloatV C3 = V4GetW(cosCoefficients0);
    const FloatV C4 = V4GetX(cosCoefficients1);
    const FloatV C5 = V4GetY(cosCoefficients1);
    const FloatV C6 = V4GetZ(cosCoefficients1);
    const FloatV C7 = V4GetW(cosCoefficients1);
    const FloatV C8 = V4GetX(cosCoefficients2);
    const FloatV C9 = V4GetY(cosCoefficients2);
    const FloatV C10 = V4GetZ(cosCoefficients2);
    const FloatV C11 = V4GetW(cosCoefficients2);

    Result = V3MulAdd(C1, V2, V4One());
    Result = V3MulAdd(C2, V4, Result);
    Result = V3MulAdd(C3, V6, Result);
    Result = V3MulAdd(C4, V8, Result);
    Result = V3MulAdd(C5, V10, Result);
    Result = V3MulAdd(C6, V12, Result);
    Result = V3MulAdd(C7, V14, Result);
    Result = V3MulAdd(C8, V16, Result);
    Result = V3MulAdd(C9, V18, Result);
    Result = V3MulAdd(C10, V20, Result);
    Result = V3MulAdd(C11, V22, Result);

    return Result;
}

QT3DS_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 2, 2, 1));
}

QT3DS_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 1, 0));
}

QT3DS_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a))
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1));
}

QT3DS_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2));
}

QT3DS_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 2, 2));
}

QT3DS_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 0, 1));
}

QT3DS_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
{
    VECMATHAOS_ASSERT(isValidVec3V(v0));
    VECMATHAOS_ASSERT(isValidVec3V(v1));
    return _mm_shuffle_ps(v1, v0, _MM_SHUFFLE(3, 1, 2, 3));
}

QT3DS_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
{
    VECMATHAOS_ASSERT(isValidVec3V(v0));
    VECMATHAOS_ASSERT(isValidVec3V(v1));
    return _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(3, 0, 3, 2));
}

QT3DS_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
{
    VECMATHAOS_ASSERT(isValidVec3V(v0));
    VECMATHAOS_ASSERT(isValidVec3V(v1));
    // There must be a better way to do this.
    Vec3V v2 = V3Zero();
    FloatV y1 = V3GetY(v1);
    FloatV x0 = V3GetX(v0);
    v2 = V3SetX(v2, y1);
    return V3SetY(v2, x0);
}

QT3DS_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));

    __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w
    __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z
    __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y
    return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);
}

QT3DS_FORCE_INLINE QT3DSU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(min));
    VECMATHAOS_ASSERT(isValidVec3V(max));
    const BoolV ffff = BFFFF();
    const BoolV c = BOr(V3IsGrtr(a, max), V3IsGrtr(min, a));
    return !BAllEq(c, ffff);
}

QT3DS_FORCE_INLINE QT3DSU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
{
    VECMATHAOS_ASSERT(isValidVec3V(a));
    VECMATHAOS_ASSERT(isValidVec3V(min));
    VECMATHAOS_ASSERT(isValidVec3V(max));
    const BoolV tttt = BTTTT();
    const BoolV c = BAnd(V3IsGrtrOrEq(a, min), V3IsGrtrOrEq(max, a));
    return BAllEq(c, tttt);
}

QT3DS_FORCE_INLINE QT3DSU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
{
    return V3OutOfBounds(a, V3Neg(bounds), bounds);
}

QT3DS_FORCE_INLINE QT3DSU32 V3InBounds(const Vec3V a, const Vec3V bounds)
{
    return V3InBounds(a, V3Neg(bounds), bounds);
}

//////////////////////////////////
// VEC4V
//////////////////////////////////

QT3DS_FORCE_INLINE Vec4V V4Splat(const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    // return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0,0,0,0));
    return f;
}

QT3DS_FORCE_INLINE Vec4V V4Merge(const FloatV *const floatVArray)
{
    VECMATHAOS_ASSERT(isValidFloatV(floatVArray[0]));
    VECMATHAOS_ASSERT(isValidFloatV(floatVArray[1]));
    VECMATHAOS_ASSERT(isValidFloatV(floatVArray[2]));
    VECMATHAOS_ASSERT(isValidFloatV(floatVArray[3]));
    __m128 xw = _mm_move_ss(floatVArray[1], floatVArray[0]); // y, y, y, x
    __m128 yz = _mm_move_ss(floatVArray[2], floatVArray[3]); // z, z, z, w
    return (_mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0)));
}

QT3DS_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z,
                              const FloatVArg w)
{
    VECMATHAOS_ASSERT(isValidFloatV(x));
    VECMATHAOS_ASSERT(isValidFloatV(y));
    VECMATHAOS_ASSERT(isValidFloatV(z));
    VECMATHAOS_ASSERT(isValidFloatV(w));
    __m128 xw = _mm_move_ss(y, x); // y, y, y, x
    __m128 yz = _mm_move_ss(z, w); // z, z, z, w
    return (_mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0)));
}

QT3DS_FORCE_INLINE Vec4V V4UnitW()
{
    const QT3DS_ALIGN(16, QT3DSF32 w[4]) = { 0.0f, 0.0f, 0.0f, 1.0f };
    const __m128 w128 = _mm_load_ps(w);
    return w128;
}

QT3DS_FORCE_INLINE Vec4V V4UnitX()
{
    const QT3DS_ALIGN(16, QT3DSF32 x[4]) = { 1.0f, 0.0f, 0.0f, 0.0f };
    const __m128 x128 = _mm_load_ps(x);
    return x128;
}

QT3DS_FORCE_INLINE Vec4V V4UnitY()
{
    const QT3DS_ALIGN(16, QT3DSF32 y[4]) = { 0.0f, 1.0f, 0.0f, 0.0f };
    const __m128 y128 = _mm_load_ps(y);
    return y128;
}

QT3DS_FORCE_INLINE Vec4V V4UnitZ()
{
    const QT3DS_ALIGN(16, QT3DSF32 z[4]) = { 0.0f, 0.0f, 1.0f, 0.0f };
    const __m128 z128 = _mm_load_ps(z);
    return z128;
}

QT3DS_FORCE_INLINE FloatV V4GetW(const Vec4V f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
}

QT3DS_FORCE_INLINE FloatV V4GetX(const Vec4V f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
}

QT3DS_FORCE_INLINE FloatV V4GetY(const Vec4V f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
}

QT3DS_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
}

QT3DS_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V4Sel(BTTTF(), v, f);
}

QT3DS_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V4Sel(BFTTT(), v, f);
}

QT3DS_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V4Sel(BTFTT(), v, f);
}

QT3DS_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
{
    VECMATHAOS_ASSERT(isValidVec3V(v));
    VECMATHAOS_ASSERT(isValidFloatV(f));
    return V4Sel(BTTFT(), v, f);
}

QT3DS_FORCE_INLINE Vec4V V4Zero()
{
    return Vec4V_From_F32(0.0f);
}

QT3DS_FORCE_INLINE Vec4V V4One()
{
    return Vec4V_From_F32(1.0f);
}

QT3DS_FORCE_INLINE Vec4V V4Eps()
{
    return Vec4V_From_F32(QT3DS_ENV_REAL);
}

QT3DS_FORCE_INLINE Vec4V V4Neg(const Vec4V f)
{
    return _mm_sub_ps(_mm_setzero_ps(), f);
}

QT3DS_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
{
    return _mm_add_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
{
    return _mm_sub_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
{
    return _mm_mul_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
{
    return _mm_mul_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_div_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
{
    return _mm_div_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
{
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return _mm_mul_ps(a, _mm_rcp_ps(b));
}

QT3DS_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
{
    return _mm_mul_ps(a, _mm_rcp_ps(b));
}

QT3DS_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
{
    return _mm_div_ps(V4One(), a);
}

QT3DS_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
{
    return _mm_rcp_ps(a);
}

QT3DS_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
{
    return _mm_div_ps(V4One(), _mm_sqrt_ps(a));
}

QT3DS_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
{
    return _mm_rsqrt_ps(a);
}

QT3DS_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
{
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return V4Add(V4Scale(a, b), c);
}

QT3DS_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
{
    VECMATHAOS_ASSERT(isValidFloatV(b));
    return V4Sub(c, V4Scale(a, b));
}

QT3DS_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
{
    return V4Add(V4Mul(a, b), c);
}

QT3DS_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
{
    return V4Sub(c, V4Mul(a, b));
}

QT3DS_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
{
    return V4Max(a, V4Neg(a));
}

QT3DS_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
{
    __m128 dot1 = _mm_mul_ps(a, b); // x,y,z,w
    __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 1, 0, 3)); // w,x,y,z
    __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 0, 3, 2)); // z,w,x,y
    __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 3, 2, 1)); // y,z,w,x
    return _mm_add_ps(_mm_add_ps(shuf2, shuf3), _mm_add_ps(dot1, shuf1));
}

QT3DS_FORCE_INLINE FloatV V4Length(const Vec4V a)
{
    return _mm_sqrt_ps(V4Dot(a, a));
}

QT3DS_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
{
    return V4Dot(a, a);
}

QT3DS_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
{
    VECMATHAOS_ASSERT(V4Dot(a, a) != FZero())
    return V4ScaleInv(a, _mm_sqrt_ps(V4Dot(a, a)));
}

QT3DS_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
{
    return V4ScaleInvFast(a, _mm_sqrt_ps(V4Dot(a, a)));
}

QT3DS_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a)
{
    const __m128 zero = FZero();
    const __m128 eps = V3Eps();
    const __m128 length = V4Length(a);
    const __m128 isGreaterThanZero = V4IsGrtr(length, eps);
    return V4Sel(isGreaterThanZero, V4ScaleInv(a, length), zero);
}

QT3DS_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
{
    return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
}

QT3DS_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
{
    return _mm_cmpgt_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
{
    return _mm_cmpge_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
{
    return _mm_cmpeq_ps(a, b);
}

QT3DS_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
{
    return _mm_cmpeq_ps(a, b);
}

QT3DS_FORCE_INLINE Vec3V V4Max(const Vec4V a, const Vec4V b)
{
    return _mm_max_ps(a, b);
}

QT3DS_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
{
    return _mm_min_ps(a, b);
}

// Extract the maximum value from a
QT3DS_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
{
    __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
    __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
    __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));

    return _mm_max_ps(_mm_max_ps(a, shuf1), _mm_max_ps(shuf2, shuf3));
}

// Extract the maximum value from a
QT3DS_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
{
    __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
    __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
    __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));

    return _mm_min_ps(_mm_min_ps(a, shuf1), _mm_min_ps(shuf2, shuf3));
}

QT3DS_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
{
    return V4Max(V4Min(a, maxV), minV);
}

QT3DS_FORCE_INLINE QT3DSU32 V4AllGrtr(const Vec4V a, const Vec4V b)
{
    return BAllTrue4_R(V4IsGrtr(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
{
    return BAllTrue4_R(V4IsGrtrOrEq(a, b));
}

QT3DS_FORCE_INLINE QT3DSU32 V4AllEq(const Vec4V a, const Vec4V b)
{
    return BAllTrue4_R(V4IsEq(a, b));
}

QT3DS_FORCE_INLINE Vec4V V4Round(const Vec4V a)
{
    // return _mm_round_ps(a, 0x0);
    const Vec3V half = Vec3V_From_F32(0.5f);
    const Vec3V aPlusHalf = V3Add(a, half);
    __m128i tmp = _mm_cvttps_epi32(aPlusHalf);
    return _mm_cvtepi32_ps(tmp);
}

QT3DS_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
{
    // Vec4V V1, V2, V3, V5, V7, V9, V11, V13, V15, V17, V19, V21, V23;
    // Vec4V S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11;
    Vec4V Result;

    const Vec4V twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const Vec4V tmp = V4Mul(a, twoPi);
    const Vec4V b = V4Round(tmp);
    const Vec4V V1 = V4NegMulSub(twoPi, b, a);

    // sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
    //           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
    const Vec4V V2 = V4Mul(V1, V1);
    const Vec4V V3 = V4Mul(V2, V1);
    const Vec4V V5 = V4Mul(V3, V2);
    const Vec4V V7 = V4Mul(V5, V2);
    const Vec4V V9 = V4Mul(V7, V2);
    const Vec4V V11 = V4Mul(V9, V2);
    const Vec4V V13 = V4Mul(V11, V2);
    const Vec4V V15 = V4Mul(V13, V2);
    const Vec4V V17 = V4Mul(V15, V2);
    const Vec4V V19 = V4Mul(V17, V2);
    const Vec4V V21 = V4Mul(V19, V2);
    const Vec4V V23 = V4Mul(V21, V2);

    const Vec4V sinCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients0.f);
    const Vec4V sinCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients1.f);
    const Vec4V sinCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXSinCoefficients2.f);

    const FloatV S1 = V4GetY(sinCoefficients0);
    const FloatV S2 = V4GetZ(sinCoefficients0);
    const FloatV S3 = V4GetW(sinCoefficients0);
    const FloatV S4 = V4GetX(sinCoefficients1);
    const FloatV S5 = V4GetY(sinCoefficients1);
    const FloatV S6 = V4GetZ(sinCoefficients1);
    const FloatV S7 = V4GetW(sinCoefficients1);
    const FloatV S8 = V4GetX(sinCoefficients2);
    const FloatV S9 = V4GetY(sinCoefficients2);
    const FloatV S10 = V4GetZ(sinCoefficients2);
    const FloatV S11 = V4GetW(sinCoefficients2);

    Result = V4MulAdd(S1, V3, V1);
    Result = V4MulAdd(S2, V5, Result);
    Result = V4MulAdd(S3, V7, Result);
    Result = V4MulAdd(S4, V9, Result);
    Result = V4MulAdd(S5, V11, Result);
    Result = V4MulAdd(S6, V13, Result);
    Result = V4MulAdd(S7, V15, Result);
    Result = V4MulAdd(S8, V17, Result);
    Result = V4MulAdd(S9, V19, Result);
    Result = V4MulAdd(S10, V21, Result);
    Result = V4MulAdd(S11, V23, Result);

    return Result;
}

QT3DS_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
{
    // XMVECTOR V1, V2, V4, V6, V8, V10, V12, V14, V16, V18, V20, V22;
    // XMVECTOR C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, C11;
    Vec4V Result;

    const Vec4V twoPi = Vec4V_From_F32Array_Aligned(g_PXReciprocalTwoPi.f);
    const Vec4V tmp = V4Mul(a, twoPi);
    const Vec4V b = V4Round(tmp);
    const Vec4V V1 = V4NegMulSub(twoPi, b, a);

    // cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
    //           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
    const Vec4V V2 = V4Mul(V1, V1);
    const Vec4V V4 = V4Mul(V2, V2);
    const Vec4V V6 = V4Mul(V4, V2);
    const Vec4V V8 = V4Mul(V4, V4);
    const Vec4V V10 = V4Mul(V6, V4);
    const Vec4V V12 = V4Mul(V6, V6);
    const Vec4V V14 = V4Mul(V8, V6);
    const Vec4V V16 = V4Mul(V8, V8);
    const Vec4V V18 = V4Mul(V10, V8);
    const Vec4V V20 = V4Mul(V10, V10);
    const Vec4V V22 = V4Mul(V12, V10);

    const Vec4V cosCoefficients0 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients0.f);
    const Vec4V cosCoefficients1 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients1.f);
    const Vec4V cosCoefficients2 = Vec4V_From_F32Array_Aligned(g_PXCosCoefficients2.f);

    const FloatV C1 = V4GetY(cosCoefficients0);
    const FloatV C2 = V4GetZ(cosCoefficients0);
    const FloatV C3 = V4GetW(cosCoefficients0);
    const FloatV C4 = V4GetX(cosCoefficients1);
    const FloatV C5 = V4GetY(cosCoefficients1);
    const FloatV C6 = V4GetZ(cosCoefficients1);
    const FloatV C7 = V4GetW(cosCoefficients1);
    const FloatV C8 = V4GetX(cosCoefficients2);
    const FloatV C9 = V4GetY(cosCoefficients2);
    const FloatV C10 = V4GetZ(cosCoefficients2);
    const FloatV C11 = V4GetW(cosCoefficients2);

    Result = V4MulAdd(C1, V2, V4One());
    Result = V4MulAdd(C2, V4, Result);
    Result = V4MulAdd(C3, V6, Result);
    Result = V4MulAdd(C4, V8, Result);
    Result = V4MulAdd(C5, V10, Result);
    Result = V4MulAdd(C6, V12, Result);
    Result = V4MulAdd(C7, V14, Result);
    Result = V4MulAdd(C8, V16, Result);
    Result = V4MulAdd(C9, V18, Result);
    Result = V4MulAdd(C10, V20, Result);
    Result = V4MulAdd(C11, V22, Result);

    return Result;
}

//////////////////////////////////
// BoolV
//////////////////////////////////

QT3DS_FORCE_INLINE BoolV BFFFF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0, 0 };
    const __m128 ffff = _mm_load_ps((float *)&f);
    return ffff;
}

QT3DS_FORCE_INLINE BoolV BFFFT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0, 0xFFFFFFFF };
    const __m128 ffft = _mm_load_ps((float *)&f);
    return ffft;
}

QT3DS_FORCE_INLINE BoolV BFFTF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0xFFFFFFFF, 0 };
    const __m128 fftf = _mm_load_ps((float *)&f);
    return fftf;
}

QT3DS_FORCE_INLINE BoolV BFFTT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0xFFFFFFFF, 0xFFFFFFFF };
    const __m128 fftt = _mm_load_ps((float *)&f);
    return fftt;
}

QT3DS_FORCE_INLINE BoolV BFTFF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0xFFFFFFFF, 0, 0 };
    const __m128 ftff = _mm_load_ps((float *)&f);
    return ftff;
}

QT3DS_FORCE_INLINE BoolV BFTFT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0xFFFFFFFF, 0, 0xFFFFFFFF };
    const __m128 ftft = _mm_load_ps((float *)&f);
    return ftft;
}

QT3DS_FORCE_INLINE BoolV BFTTF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0xFFFFFFFF, 0xFFFFFFFF, 0 };
    const __m128 fttf = _mm_load_ps((float *)&f);
    return fttf;
}

QT3DS_FORCE_INLINE BoolV BFTTT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF };
    const __m128 fttt = _mm_load_ps((float *)&f);
    return fttt;
}

QT3DS_FORCE_INLINE BoolV BTFFF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0, 0, 0 };
    const __m128 tfff = _mm_load_ps((float *)&f);
    return tfff;
}

QT3DS_FORCE_INLINE BoolV BTFFT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0, 0, 0xFFFFFFFF };
    const __m128 tfft = _mm_load_ps((float *)&f);
    return tfft;
}

QT3DS_FORCE_INLINE BoolV BTFTF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0, 0xFFFFFFFF, 0 };
    const __m128 tftf = _mm_load_ps((float *)&f);
    return tftf;
}

QT3DS_FORCE_INLINE BoolV BTFTT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0, 0xFFFFFFFF, 0xFFFFFFFF };
    const __m128 tftt = _mm_load_ps((float *)&f);
    return tftt;
}

QT3DS_FORCE_INLINE BoolV BTTFF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0xFFFFFFFF, 0, 0 };
    const __m128 ttff = _mm_load_ps((float *)&f);
    return ttff;
}

QT3DS_FORCE_INLINE BoolV BTTFT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0xFFFFFFFF, 0, 0xFFFFFFFF };
    const __m128 ttft = _mm_load_ps((float *)&f);
    return ttft;
}

QT3DS_FORCE_INLINE BoolV BTTTF()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0 };
    const __m128 tttf = _mm_load_ps((float *)&f);
    return tttf;
}

QT3DS_FORCE_INLINE BoolV BTTTT()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF };
    const __m128 tttt = _mm_load_ps((float *)&f);
    return tttt;
}

QT3DS_FORCE_INLINE BoolV BXMask()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0xFFFFFFFF, 0, 0, 0 };
    const __m128 tfff = _mm_load_ps((float *)&f);
    return tfff;
}

QT3DS_FORCE_INLINE BoolV BYMask()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0xFFFFFFFF, 0, 0 };
    const __m128 ftff = _mm_load_ps((float *)&f);
    return ftff;
}

QT3DS_FORCE_INLINE BoolV BZMask()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0xFFFFFFFF, 0 };
    const __m128 fftf = _mm_load_ps((float *)&f);
    return fftf;
}

QT3DS_FORCE_INLINE BoolV BWMask()
{
    const QT3DS_ALIGN(16, QT3DSU32 f[4]) = { 0, 0, 0, 0xFFFFFFFF };
    const __m128 ffft = _mm_load_ps((float *)&f);
    return ffft;
}

QT3DS_FORCE_INLINE BoolV BGetX(const BoolV f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
}

QT3DS_FORCE_INLINE BoolV BGetY(const BoolV f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
}

QT3DS_FORCE_INLINE BoolV BGetZ(const BoolV f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
}

QT3DS_FORCE_INLINE BoolV BGetW(const BoolV f)
{
    return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
}

QT3DS_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
{
    return (_mm_and_ps(a, b));
}

QT3DS_FORCE_INLINE BoolV BNot(const BoolV a)
{
    const BoolV bAllTrue(BTTTT());
    return _mm_xor_ps(a, bAllTrue);
}

QT3DS_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
{
    return (_mm_andnot_ps(a, b));
}

QT3DS_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
{
    return (_mm_or_ps(a, b));
}

QT3DS_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
{
    const BoolV bTmp = _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)),
                                  _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
    return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
                      _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
}

QT3DS_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
{
    const BoolV bTmp = _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)),
                                 _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
    return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
                     _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
}

QT3DS_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
{
    const BoolV bTmp = _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)),
                                  _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
    return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
                      _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
}

QT3DS_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
{
    const BoolV bTmp = _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)),
                                 _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
    return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
                     _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
}

QT3DS_FORCE_INLINE QT3DSU32 BAllEq(const BoolV a, const BoolV b)
{
    const BoolV bTest = m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b)));
    return BAllTrue4_R(bTest);
}

//////////////////////////////////
// MAT33V
//////////////////////////////////

QT3DS_FORCE_INLINE Vec3V M33MulV3(const Mat33V &a, const Vec3V b)
{
    const FloatV x = V3GetX(b);
    const FloatV y = V3GetY(b);
    const FloatV z = V3GetZ(b);
    const Vec3V v0 = V3Scale(a.col0, x);
    const Vec3V v1 = V3Scale(a.col1, y);
    const Vec3V v2 = V3Scale(a.col2, z);
    const Vec3V v0PlusV1 = V3Add(v0, v1);
    return V3Add(v0PlusV1, v2);
}

QT3DS_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V &a, const Vec3V b)
{
    const FloatV x = V3Dot(a.col0, b);
    const FloatV y = V3Dot(a.col1, b);
    const FloatV z = V3Dot(a.col2, b);
    return V3Merge(x, y, z);
}

QT3DS_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 = V3MulAdd(A.col0, x, c);
    result = V3MulAdd(A.col1, y, result);
    return V3MulAdd(A.col2, z, result);
}

QT3DS_FORCE_INLINE Mat33V M33MulM33(const Mat33V &a, const Mat33V &b)
{
    return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
}

QT3DS_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));
}

QT3DS_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));
}

QT3DS_FORCE_INLINE Mat33V M33Neg(const Mat33V &a)
{
    return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
}

QT3DS_FORCE_INLINE Mat33V M33Abs(const Mat33V &a)
{
    return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
}

QT3DS_FORCE_INLINE Mat33V M33Inverse(const Mat33V &a)
{
    const BoolV tfft = BTFFT();
    const BoolV tttf = BTTTF();
    const FloatV zero = V3Zero();
    const Vec3V cross01 = V3Cross(a.col0, a.col1);
    const Vec3V cross12 = V3Cross(a.col1, a.col2);
    const Vec3V cross20 = V3Cross(a.col2, a.col0);
    const FloatV dot = V3Dot(cross01, a.col2);
    const FloatV invDet = _mm_rcp_ps(dot);
    const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01);
    const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01);
    Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20);
    colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0));
    const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2));
    const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0));
    const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd));
    const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0));
    const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0));
    const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd));

    return Mat33V(_mm_mul_ps(colInv0, invDet), _mm_mul_ps(colInv1, invDet),
                  _mm_mul_ps(colInv2, invDet));
}

QT3DS_FORCE_INLINE Mat33V M33Trnsps(const Mat33V &a)
{
    return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
                  V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
                  V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
}

QT3DS_FORCE_INLINE Mat33V M33Identity()
{
    return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
}

QT3DS_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
{
    const FloatV x = V3Mul(V3UnitX(), d);
    const FloatV y = V3Mul(V3UnitY(), d);
    const FloatV z = V3Mul(V3UnitZ(), d);
    return Mat33V(x, y, z);
}

//////////////////////////////////
// MAT34V
//////////////////////////////////

QT3DS_FORCE_INLINE Vec3V M34MulV3(const Mat34V &a, const Vec3V b)
{
    const FloatV x = V3GetX(b);
    const FloatV y = V3GetY(b);
    const FloatV z = V3GetZ(b);
    const Vec3V v0 = V3Scale(a.col0, x);
    const Vec3V v1 = V3Scale(a.col1, y);
    const Vec3V v2 = V3Scale(a.col2, z);
    const Vec3V v0PlusV1 = V3Add(v0, v1);
    const Vec3V v0PlusV1Plusv2 = V3Add(v0PlusV1, v2);
    return (V3Add(v0PlusV1Plusv2, a.col3));
}

QT3DS_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V &a, const Vec3V b)
{
    const FloatV x = V3GetX(b);
    const FloatV y = V3GetY(b);
    const FloatV z = V3GetZ(b);
    const Vec3V v0 = V3Scale(a.col0, x);
    const Vec3V v1 = V3Scale(a.col1, y);
    const Vec3V v2 = V3Scale(a.col2, z);
    const Vec3V v0PlusV1 = V3Add(v0, v1);
    return V3Add(v0PlusV1, v2);
}

QT3DS_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V &a, const Vec3V b)
{
    const FloatV x = V3Dot(a.col0, b);
    const FloatV y = V3Dot(a.col1, b);
    const FloatV z = V3Dot(a.col2, b);
    return V3Merge(x, y, z);
}

QT3DS_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));
}

QT3DS_FORCE_INLINE Mat33V M34MulM33(const Mat34V &a, const Mat33V &b)
{
    return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
}

QT3DS_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V &a, const Mat34V &b)
{
    return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
}

QT3DS_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));
}

QT3DS_FORCE_INLINE Mat34V M34Inverse(const Mat34V &a)
{
    Mat34V aInv;
    const BoolV tfft = BTFFT();
    const BoolV tttf = BTTTF();
    const FloatV zero = V3Zero();
    const Vec3V cross01 = V3Cross(a.col0, a.col1);
    const Vec3V cross12 = V3Cross(a.col1, a.col2);
    const Vec3V cross20 = V3Cross(a.col2, a.col0);
    const FloatV dot = V3Dot(cross01, a.col2);
    const FloatV invDet = _mm_rcp_ps(dot);
    const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01);
    const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01);
    Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20);
    colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0));
    const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2));
    const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0));
    const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd));
    const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0));
    const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0));
    const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd));
    aInv.col0 = _mm_mul_ps(colInv0, invDet);
    aInv.col1 = _mm_mul_ps(colInv1, invDet);
    aInv.col2 = _mm_mul_ps(colInv2, invDet);
    aInv.col3 = M34Mul33V3(aInv, V3Neg(a.col3));
    return aInv;
}

QT3DS_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V &a)
{
    return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
                  V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
                  V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
}

//////////////////////////////////
// MAT44V
//////////////////////////////////

QT3DS_FORCE_INLINE Vec4V M44MulV4(const Mat44V &a, const Vec4V b)
{
    const FloatV x = V4GetX(b);
    const FloatV y = V4GetY(b);
    const FloatV z = V4GetZ(b);
    const FloatV w = V4GetW(b);

    const Vec4V v0 = V4Scale(a.col0, x);
    const Vec4V v1 = V4Scale(a.col1, y);
    const Vec4V v2 = V4Scale(a.col2, z);
    const Vec4V v3 = V4Scale(a.col3, w);
    const Vec4V v0PlusV1 = V4Add(v0, v1);
    const Vec4V v0PlusV1Plusv2 = V4Add(v0PlusV1, v2);
    return (V4Add(v0PlusV1Plusv2, v3));
}

QT3DS_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V &a, const Vec4V b)
{
    QT3DS_ALIGN(16, FloatV dotProdArray[4]) = { V4Dot(a.col0, b), V4Dot(a.col1, b), V4Dot(a.col2, b),
                                             V4Dot(a.col3, b) };
    return V4Merge(dotProdArray);
}

QT3DS_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));
}

QT3DS_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));
}

QT3DS_FORCE_INLINE Mat44V M44Trnsps(const Mat44V &a)
{
    const Vec4V v0 = _mm_unpacklo_ps(a.col0, a.col2);
    const Vec4V v1 = _mm_unpackhi_ps(a.col0, a.col2);
    const Vec4V v2 = _mm_unpacklo_ps(a.col1, a.col3);
    const Vec4V v3 = _mm_unpackhi_ps(a.col1, a.col3);
    return Mat44V(_mm_unpacklo_ps(v0, v2), _mm_unpackhi_ps(v0, v2), _mm_unpacklo_ps(v1, v3),
                  _mm_unpackhi_ps(v1, v3));
}

// The original code as provided by Intel in
// "Streaming SIMD Extensions - Inverse of 4x4 Matrix"
// (ftp://download.intel.com/design/pentiumiii/sml/24504301.pdf)
QT3DS_FORCE_INLINE Mat44V M44Inverse(const Mat44V &a)
{
    __m128 minor0, minor1, minor2, minor3;
    __m128 row0, row1, row2, row3;
    __m128 det, tmp1;

    tmp1 = V4Zero();
    row1 = V4Zero();
    row3 = V4Zero();

    row0 = a.col0;
    row1 = _mm_shuffle_ps(a.col1, a.col1, _MM_SHUFFLE(1, 0, 3, 2));
    row2 = a.col2;
    row3 = _mm_shuffle_ps(a.col3, a.col3, _MM_SHUFFLE(1, 0, 3, 2));

    tmp1 = _mm_mul_ps(row2, row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    minor0 = _mm_mul_ps(row1, tmp1);
    minor1 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0);
    minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1);
    minor1 = _mm_shuffle_ps(minor1, minor1, 0x4E);

    tmp1 = _mm_mul_ps(row1, row2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0);
    minor3 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1));
    minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3);
    minor3 = _mm_shuffle_ps(minor3, minor3, 0x4E);

    tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, 0x4E), row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    row2 = _mm_shuffle_ps(row2, row2, 0x4E);
    minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0);
    minor2 = _mm_mul_ps(row0, tmp1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1));
    minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2);
    minor2 = _mm_shuffle_ps(minor2, minor2, 0x4E);

    tmp1 = _mm_mul_ps(row0, row1);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2);
    minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2);
    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1));

    tmp1 = _mm_mul_ps(row0, row3);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1));
    minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1);
    minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1));

    tmp1 = _mm_mul_ps(row0, row2);
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
    minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1);
    minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1));
    tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
    minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1));
    minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3);

    det = _mm_mul_ps(row0, minor0);
    det = _mm_add_ps(_mm_shuffle_ps(det, det, 0x4E), det);
    det = _mm_add_ss(_mm_shuffle_ps(det, det, 0xB1), det);
    tmp1 = _mm_rcp_ss(det);
#if 0
        det = _mm_sub_ss(_mm_add_ss(tmp1, tmp1), _mm_mul_ss(det, _mm_mul_ss(tmp1, tmp1)));
        det = _mm_shuffle_ps(det, det, 0x00);
#else
    det = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(0, 0, 0, 0));
#endif

    minor0 = _mm_mul_ps(det, minor0);
    minor1 = _mm_mul_ps(det, minor1);
    minor2 = _mm_mul_ps(det, minor2);
    minor3 = _mm_mul_ps(det, minor3);
    Mat44V invTrans(minor0, minor1, minor2, minor3);
    return M44Trnsps(invTrans);
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_XYZW(QT3DSF32 x, QT3DSF32 y, QT3DSF32 z, QT3DSF32 w)
{
    return _mm_set_ps(w, z, y, x);
}

// AP: work in progress - use proper SSE intrinsics where possible
QT3DS_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b)
{
    VecU16V result;
    result.m128_u16[0] = QT3DSU16(NVClamp<QT3DSU32>((a).m128_u32[0], 0, 0xFFFF));
    result.m128_u16[1] = QT3DSU16(NVClamp<QT3DSU32>((a).m128_u32[1], 0, 0xFFFF));
    result.m128_u16[2] = QT3DSU16(NVClamp<QT3DSU32>((a).m128_u32[2], 0, 0xFFFF));
    result.m128_u16[3] = QT3DSU16(NVClamp<QT3DSU32>((a).m128_u32[3], 0, 0xFFFF));
    result.m128_u16[4] = QT3DSU16(NVClamp<QT3DSU32>((b).m128_u32[0], 0, 0xFFFF));
    result.m128_u16[5] = QT3DSU16(NVClamp<QT3DSU32>((b).m128_u32[1], 0, 0xFFFF));
    result.m128_u16[6] = QT3DSU16(NVClamp<QT3DSU32>((b).m128_u32[2], 0, 0xFFFF));
    result.m128_u16[7] = QT3DSU16(NVClamp<QT3DSU32>((b).m128_u32[3], 0, 0xFFFF));
    return result;
}

QT3DS_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
{
    return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
{
    return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
{
    return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a)));
}

QT3DS_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b)
{
    return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b)
{
    return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b)
{
    return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a)));
}

QT3DS_FORCE_INLINE VecI32V VecI32V_From_I32(const QT3DSI32 i)
{
    return (_mm_load1_ps((QT3DSF32 *)&i));
}

QT3DS_FORCE_INLINE VecI32V VecI32V_From_I32Array(const QT3DSI32 *i)
{
    return _mm_loadu_ps((QT3DSF32 *)i);
}

QT3DS_FORCE_INLINE VecI32V VecI32V_From_I32Array_Aligned(const QT3DSI32 *i)
{
    return _mm_load_ps((QT3DSF32 *)i);
}

QT3DS_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
{
    return m128_I2F(_mm_add_epi32(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
{
    return m128_I2F(_mm_sub_epi32(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
{
    return m128_I2F(_mm_cmpgt_epi32(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
{
    return m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecI32V VecI32V_Zero()
{
    return V4Zero();
}

QT3DS_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c,
                                      const VecI32VArg d)
{
    return V4Merge(a, b, c, d);
}

template <int a>
QT3DS_FORCE_INLINE VecI32V V4ISplat()
{
    VecI32V result;
    result.m128_i32[0] = a;
    result.m128_i32[1] = a;
    result.m128_i32[2] = a;
    result.m128_i32[3] = a;
    return result;
}

QT3DS_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V *address)
{
    *address = val;
}

QT3DS_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V *address)
{
    *address = val;
}

QT3DS_FORCE_INLINE Vec4V V4LoadAligned(Vec4V *addr)
{
    return *addr;
}

QT3DS_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V *addr)
{
    return Vec4V_From_F32Array((float *)addr);
}

QT3DS_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
{
    VecU32V result32(a);
    result32 = V4U32Andc(result32, b);
    return Vec4V(result32);
}

QT3DS_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
{
    return V4IsGrtr(a, b);
}

QT3DS_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V *addr)
{
    return *addr;
}

QT3DS_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V *addr)
{
    return *addr;
}

QT3DS_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
{
    // _mm_cmpgt_epi16 doesn't work for unsigned values unfortunately
    // return m128_I2F(_mm_cmpgt_epi16(m128_F2I(a), m128_F2I(b)));
    VecU16V result;
    result.m128_u16[0] = (a).m128_u16[0] > (b).m128_u16[0];
    result.m128_u16[1] = (a).m128_u16[1] > (b).m128_u16[1];
    result.m128_u16[2] = (a).m128_u16[2] > (b).m128_u16[2];
    result.m128_u16[3] = (a).m128_u16[3] > (b).m128_u16[3];
    result.m128_u16[4] = (a).m128_u16[4] > (b).m128_u16[4];
    result.m128_u16[5] = (a).m128_u16[5] > (b).m128_u16[5];
    result.m128_u16[6] = (a).m128_u16[6] > (b).m128_u16[6];
    result.m128_u16[7] = (a).m128_u16[7] > (b).m128_u16[7];
    return result;
}

QT3DS_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
{
    Vec4V result = Vec4V_From_XYZW(QT3DSF32(a.m128_u32[0]), QT3DSF32(a.m128_u32[1]), QT3DSF32(a.m128_u32[2]),
                                   QT3DSF32(a.m128_u32[3]));
    return result;
}

template <int index>
QT3DS_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
{
    VecU32V result;
    result.m128_u32[0] = result.m128_u32[1] = result.m128_u32[2] = result.m128_u32[3] =
        a.m128_u32[index];
    return result;
}

template <int index>
QT3DS_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
{
    float *data = (float *)&a;
    return Vec4V_From_F32(data[index]);
}

template <int index>
QT3DS_FORCE_INLINE VecU16V V4U16SplatElement(VecU16V a)
{
    VecU16V result = a; // AM: initializing to avoid nonsensical warning 4701 here with VC10.
    for (int i = 0; i < 8; i++)
        result.m128_u16[i] = a.m128_u16[index];
    return result;
}

template <int imm>
QT3DS_FORCE_INLINE VecI16V V4I16SplatImmediate()
{
    VecI16V result;
    result.m128_i16[0] = imm;
    result.m128_i16[1] = imm;
    result.m128_i16[2] = imm;
    result.m128_i16[3] = imm;
    result.m128_i16[4] = imm;
    result.m128_i16[5] = imm;
    result.m128_i16[6] = imm;
    result.m128_i16[7] = imm;
    return result;
}

QT3DS_FORCE_INLINE VecU16V V4U16SubtractModulo(VecU16V a, VecU16V b)
{
    return m128_I2F(_mm_sub_epi16(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU16V V4U16AddModulo(VecU16V a, VecU16V b)
{
    return m128_I2F(_mm_add_epi16(m128_F2I(a), m128_F2I(b)));
}

QT3DS_FORCE_INLINE VecU32V V4U16GetLo16(VecU16V a)
{
    VecU32V result;
    result.m128_u32[0] = a.m128_u16[0];
    result.m128_u32[1] = a.m128_u16[2];
    result.m128_u32[2] = a.m128_u16[4];
    result.m128_u32[3] = a.m128_u16[6];
    return result;
}

QT3DS_FORCE_INLINE VecU32V V4U16GetHi16(VecU16V a)
{
    VecU32V result;
    result.m128_u32[0] = a.m128_u16[1];
    result.m128_u32[1] = a.m128_u16[3];
    result.m128_u32[2] = a.m128_u16[5];
    result.m128_u32[3] = a.m128_u16[7];
    return result;
}

QT3DS_FORCE_INLINE VecU32V VecU32V_From_XYZW(QT3DSU32 x, QT3DSU32 y, QT3DSU32 z, QT3DSU32 w)
{
    VecU32V result;
    result.m128_u32[0] = x;
    result.m128_u32[1] = y;
    result.m128_u32[2] = z;
    result.m128_u32[3] = w;
    return result;
}

QT3DS_FORCE_INLINE Vec4V V4Ceil(const Vec4V a)
{
    return Vec4V_From_XYZW(NVCeil(a.m128_f32[0]), NVCeil(a.m128_f32[1]), NVCeil(a.m128_f32[2]),
                           NVCeil(a.m128_f32[3]));
}

QT3DS_FORCE_INLINE Vec4V V4Floor(const Vec4V a)
{
    return Vec4V_From_XYZW(NVFloor(a.m128_f32[0]), NVFloor(a.m128_f32[1]), NVFloor(a.m128_f32[2]),
                           NVFloor(a.m128_f32[3]));
}

QT3DS_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, QT3DSU32 power)
{
    QT3DS_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate");
    QT3DS_FORCE_PARAMETER_REFERENCE(power); // prevent warning in release builds
    QT3DSF32 ffffFFFFasFloat = QT3DSF32(0xFFFF0000);
    VecU32V result;
    result.m128_u32[0] = QT3DSU32(NVClamp<QT3DSF32>((a).m128_f32[0], 0.0f, ffffFFFFasFloat));
    result.m128_u32[1] = QT3DSU32(NVClamp<QT3DSF32>((a).m128_f32[1], 0.0f, ffffFFFFasFloat));
    result.m128_u32[2] = QT3DSU32(NVClamp<QT3DSF32>((a).m128_f32[2], 0.0f, ffffFFFFasFloat));
    result.m128_u32[3] = QT3DSU32(NVClamp<QT3DSF32>((a).m128_f32[3], 0.0f, ffffFFFFasFloat));
    return result;
}

#endif // QT3DS_WINDOWS_INLINE_AOS_H