Function transformFast

physx/source/common/src/CmTransformUtils.h:43–55

// V3PrepareCross would help here, but it's not on all platforms yet...

PX_FORCE_INLINE void transformFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
							   const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb, 
							   FloatV& wo, Vec3V& vo, Vec3V& po)
{
	wo = FSub(FMul(wa, wb), V3Dot(va, vb));
	vo = V3ScaleAdd(va, wb, V3ScaleAdd(vb, wa, V3Cross(va, vb)));

	const Vec3V t1 = V3Scale(pb, FScaleAdd(wa, wa, FLoad(-0.5f)));
	const Vec3V t2 = V3ScaleAdd(V3Cross(va, pb), wa, t1);
	const Vec3V t3 = V3ScaleAdd(va, V3Dot(va, pb), t2);

	po = V3ScaleAdd(t3, FLoad(2.f), pa);
}

PX_FORCE_INLINE void transformInvFast(const FloatVArg wa, const Vec3VArg va, const Vec3VArg pa, 
								      const FloatVArg wb, const Vec3VArg vb, const Vec3VArg pb,