Vectorize the rotate function of cmath transform3

acts-project · Apr 20, 2024 · 4d575f9 · 4d575f9
1 parent ee9cf86
commit 4d575f9
Showing 1 changed file with 15 additions and 9 deletions.
diff --git a/math/cmath/include/algebra/math/impl/cmath_transform3.hpp b/math/cmath/include/algebra/math/impl/cmath_transform3.hpp
@@ -235,15 +235,21 @@ struct transform3 {
   ALGEBRA_HOST_DEVICE
   static inline vector3 rotate(const matrix44 &m, const vector3 &v) {
 
-    return {matrix_actor().element(m, 0, 0) * v[0] +
-                matrix_actor().element(m, 0, 1) * v[1] +
-                matrix_actor().element(m, 0, 2) * v[2],
-            matrix_actor().element(m, 1, 0) * v[0] +
-                matrix_actor().element(m, 1, 1) * v[1] +
-                matrix_actor().element(m, 1, 2) * v[2],
-            matrix_actor().element(m, 2, 0) * v[0] +
-                matrix_actor().element(m, 2, 1) * v[1] +
-                matrix_actor().element(m, 2, 2) * v[2]};
+    vector3 ret{0.f, 0.f, 0.f};
+
+    ret = ret + vector3{matrix_actor().element(m, 0, 0) * v[0],
+                        matrix_actor().element(m, 1, 0) * v[0],
+                        matrix_actor().element(m, 2, 0) * v[0]};
+
+    ret = ret + vector3{matrix_actor().element(m, 0, 1) * v[1],
+                        matrix_actor().element(m, 1, 1) * v[1],
+                        matrix_actor().element(m, 2, 1) * v[1]};
+
+    ret = ret + vector3{matrix_actor().element(m, 0, 2) * v[2],
+                        matrix_actor().element(m, 1, 2) * v[2],
+                        matrix_actor().element(m, 2, 2) * v[2]};
+
+    return ret;
   }
 
   /** This method retrieves the rotation of a transform */