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Math Lib: minor optimization for axis_angle_normalized_to_mat3

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Campbell Barton
2014-04-19 14:09:55 +10:00
parent 36defb7e66
commit fc9c790563
1 changed files with 17 additions and 9 deletions
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26
source/blender/blenlib/intern/math_rotation.c
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@@ -834,6 +834,7 @@ void eulO_to_axis_angle(float axis[3], float *angle, const float eul[3], const s
void axis_angle_normalized_to_mat3(float mat[3][3], const float nor[3], const float angle)
{
float nsi[3], co, si, ico;
float n_00, n_01, n_11, n_02, n_12, n_22;
BLI_ASSERT_UNIT_V3(nor);
@@ -846,15 +847,22 @@ void axis_angle_normalized_to_mat3(float mat[3][3], const float nor[3], const fl
nsi[1] = nor[1] * si;
nsi[2] = nor[2] * si;
mat[0][0] = ((nor[0] * nor[0]) * ico) + co;
mat[0][1] = ((nor[0] * nor[1]) * ico) + nsi[2];
mat[0][2] = ((nor[0] * nor[2]) * ico) - nsi[1];
mat[1][0] = ((nor[0] * nor[1]) * ico) - nsi[2];
mat[1][1] = ((nor[1] * nor[1]) * ico) + co;
mat[1][2] = ((nor[1] * nor[2]) * ico) + nsi[0];
mat[2][0] = ((nor[0] * nor[2]) * ico) + nsi[1];
mat[2][1] = ((nor[1] * nor[2]) * ico) - nsi[0];
mat[2][2] = ((nor[2] * nor[2]) * ico) + co;
n_00 = (nor[0] * nor[0]) * ico;
n_01 = (nor[0] * nor[1]) * ico;
n_11 = (nor[1] * nor[1]) * ico;
n_02 = (nor[0] * nor[2]) * ico;
n_12 = (nor[1] * nor[2]) * ico;
n_22 = (nor[2] * nor[2]) * ico;
mat[0][0] = n_00 + co;
mat[0][1] = n_01 + nsi[2];
mat[0][2] = n_02 - nsi[1];
mat[1][0] = n_01 - nsi[2];
mat[1][1] = n_11 + co;
mat[1][2] = n_12 + nsi[0];
mat[2][0] = n_02 + nsi[1];
mat[2][1] = n_12 - nsi[0];
mat[2][2] = n_22 + co;
}