Function v_mat33_compose

include/vecmath/dag_vecMath_common.h:1518–1539

compose 3x3 matrix from rotation/scale

//! compose 3x3 matrix from rotation/scale
VECTORCALL VECMATH_FINLINE void v_mat33_compose(mat33f &dest, quat4f rot, vec4f scale)
{
  vec4f xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2;
  vec4f tmp0, tmp1, tmp2, tmp3, tmp4, tmp5;

  xyzw_2 = v_add(rot, rot);
  wwww = v_splat_w(rot);
  yzxw = v_perm_yzxw(rot); yzxw_2 = v_perm_yzxw(xyzw_2);
  zxyw = v_perm_zxyw(rot); zxyw_2 = v_perm_zxyw(xyzw_2);
  tmp0 = v_mul(yzxw_2, wwww);
  tmp1 = v_nmsub(yzxw, yzxw_2, V_C_ONE);
  tmp2 = v_mul(yzxw, xyzw_2);
  tmp0 = v_madd(zxyw, xyzw_2, tmp0);
  tmp1 = v_nmsub(zxyw, zxyw_2, tmp1);
  tmp2 = v_nmsub(zxyw_2, wwww, tmp2);
  tmp3 = v_perm_ayzw(tmp0, tmp1);
  tmp4 = v_perm_ayzw(tmp1, tmp2);
  tmp5 = v_perm_ayzw(tmp2, tmp0);
  dest.col0 = v_mul(v_perm_xycw(tmp3, tmp2), v_splat_x(scale));
  dest.col1 = v_mul(v_perm_xycw(tmp4, tmp0), v_splat_y(scale));
  dest.col2 = v_mul(v_perm_xycw(tmp5, tmp1), v_splat_z(scale));
}

//! make 4x4 matrix from quaternion and position
VECTORCALL VECMATH_FINLINE void v_mat44_from_quat(mat44f &dest, quat4f q, vec4f pos)