For the steers it doesn't matter. Balance your ration and figure which one is more cost effective. Don't look at just the cost of the soybeans or soybean meal, but take into account how much corn you are "bumping" from the ration by including one or the other.For the pigs beware the ground soybeans, unless they have been roasted. Soybeans contain trypsin and chymotrypsin inhibitors. In laymen's talk, they contain enzymes that inhibit protein digestion. Roasting the soybeans destroys those enzymes, and allows monogastrics (pigs and chickens) to utilize the protein contained in the bean. The industrial crushing process also destroys those enzymes, so soybean meal is fine to feed to simple stomached animals.
Most research I have seen shows that the microbes in the rumen are able to break down the trypsin and chymotrypsin inhibiting enzymes, so feeding whole soybeans to ruminants (assuming you aren't feeding obscene amounts) is fine.
Remember, there is still fat and oil in the meal, so the key is balancing the whole ration to see what is going to work best (animal performance) and be most cost effective. ($/pound of gain)