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Modified quaternion mat3_cast for faster results

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- Make method more cache coherent
- Reduce number of multiplications
This commit is contained in:
Dustin Biser 2013-10-04 22:08:08 -04:00
parent a699f336f5
commit 78fed634b7
1 changed files with 19 additions and 9 deletions
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28
glm/gtc/quaternion.inl
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@ -668,17 +668,27 @@ namespace detail
)
{
detail::tmat3x3<T, P> Result(T(1));
Result[0][0] = 1 - 2 * q.y * q.y - 2 * q.z * q.z;
Result[0][1] = 2 * q.x * q.y + 2 * q.w * q.z;
Result[0][2] = 2 * q.x * q.z - 2 * q.w * q.y;
T qxx(q.x * q.x);
T qyy(q.y * q.y);
T qzz(q.z * q.z);
T qxz(q.x * q.z);
T qxy(q.x * q.y);
T qyz(q.y * q.z);
T qwx(q.w * q.x);
T qwy(q.w * q.y);
T qwz(q.w * q.z);
Result[1][0] = 2 * q.x * q.y - 2 * q.w * q.z;
Result[1][1] = 1 - 2 * q.x * q.x - 2 * q.z * q.z;
Result[1][2] = 2 * q.y * q.z + 2 * q.w * q.x;
Result[0][0] = 1 - 2 * (qyy - qzz);
Result[0][1] = 2 * (qxy + qwz);
Result[0][2] = 2 * (qxz - qwy);
Result[2][0] = 2 * q.x * q.z + 2 * q.w * q.y;
Result[2][1] = 2 * q.y * q.z - 2 * q.w * q.x;
Result[2][2] = 1 - 2 * q.x * q.x - 2 * q.y * q.y;
Result[1][0] = 2 * (qxy - qwz);
Result[1][1] = 1 - 2 * (qxx - qzz);
Result[1][2] = 2 * (qyz + qwx);
Result[2][0] = 2 * (qxz + qwy);
Result[2][1] = 2 * (qyz - qwx);
Result[2][2] = 1 - 2 * (qxx - qyy);
return Result;
}