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Rewrite QuatMultVec to be faster

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Could be faster still using SSE, but that's another project.
This commit is contained in:
Bill Currie 2019-07-06 14:45:40 +09:00
parent ab71311174
commit c727f6a130
1 changed files with 9 additions and 6 deletions
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15
libs/util/mathlib.c
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@ -258,15 +258,18 @@ QuatMult (const quat_t q1, const quat_t q2, quat_t out)
VISIBLE void
QuatMultVec (const quat_t q, const vec3_t v, vec3_t out)
{
vec_t s;
vec3_t tv;
vec_t dqv, dqq;
vec_t s;
s = -DotProduct (q, v);
s = q[3];
CrossProduct (q, v, tv);
VectorMultAdd (tv, q[3], v, tv);
CrossProduct (q, tv, out);
VectorMultSub (out, s, q, out);
VectorMultAdd (out, q[3], tv, out);
dqv = DotProduct (q, v);
dqq = DotProduct (q, q);
VectorScale (tv, s, tv);
VectorMultAdd (tv, dqv, q, tv);
VectorAdd (tv, tv, tv);
VectorMultAdd (tv, s * s - dqq, v, out);
}
VISIBLE void