error with Matrix Rotation, Test_3x3setRot.cpp , btMatrix3x3.h

[Mohamed-Sakr]

Linear Math test fails "28 runs fine out of 29" ,

fails exactly at this function:

void setRotation(const btQuaternion& q) 
{
    btScalar d = q.length2();
    btFullAssert(d != btScalar(0.0));
    btScalar s = btScalar(2.0) / d;

#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
    __m128  vs, Q = q.get128();
    __m128i Qi = btCastfTo128i(Q);
    __m128  Y, Z;
    __m128  V1, V2, V3;
    __m128  V11, V21, V31;
    __m128  NQ = _mm_xor_ps(Q, btvMzeroMask);
    __m128i NQi = btCastfTo128i(NQ);

    V1 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,2,3)));    // Y X Z W
    V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0,0,1,3));     // -X -X  Y  W
    V3 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(2,1,0,3)));    // Z Y X W
    V1 = _mm_xor_ps(V1, vMPPP); //  change the sign of the first element

    V11 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,1,0,3)));   // Y Y X W
    V21 = _mm_unpackhi_ps(Q, Q);                    //  Z  Z  W  W
    V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0,2,0,3));   //  X  Z -X -W

    V2 = V2 * V1;   //
    V1 = V1 * V11;  //
    V3 = V3 * V31;  //

    V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2,3,1,3));   //  -Z -W  Y  W
    V11 = V11 * V21;    //
    V21 = _mm_xor_ps(V21, vMPPP);   //  change the sign of the first element
    V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3,3,1,3));   //   W  W -Y -W
    V31 = _mm_xor_ps(V31, vMPPP);   //  change the sign of the first element
    Y = btCastiTo128f(_mm_shuffle_epi32 (NQi, BT_SHUFFLE(3,2,0,3)));    // -W -Z -X -W
    Z = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,1,3))); //  Y  X  Y  W

    vs = _mm_load_ss(&s);
    V21 = V21 * Y;
    V31 = V31 * Z;

    V1 = V1 + V11;
    V2 = V2 + V21;
    V3 = V3 + V31;

    vs = bt_splat3_ps(vs, 0);
        //  s ready
    V1 = V1 * vs;
    V2 = V2 * vs;
    V3 = V3 * vs;

    V1 = V1 + v1000;
    V2 = V2 + v0100;
    V3 = V3 + v0010;

    m_el[0] = V1; 
    m_el[1] = V2;
    m_el[2] = V3;
#else    
    btScalar xs = q.x() * s,   ys = q.y() * s,   zs = q.z() * s;
    btScalar wx = q.w() * xs,  wy = q.w() * ys,  wz = q.w() * zs;
    btScalar xx = q.x() * xs,  xy = q.x() * ys,  xz = q.x() * zs;
    btScalar yy = q.y() * ys,  yz = q.y() * zs,  zz = q.z() * zs;
    setValue(
        btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
        xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
        xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
#endif
}

I'm using VS2012 "also 2013" , enabled BT_USE_SSE_IN_API , fail, so to make it run correct I disabled BT_USE_SSE_IN_API and disabled BT_USE_SIMD_VECTOR3 which is bad.

help please.