quaternion-multiplication

JavaScript performance comparison

Revision 8 of this test case created

Info

Comparing different ways to multiply quaternions.

See http://ariya.blogspot.com/2010/07/faster-quaternion-multiplication.html for details.

Preparation code

<script>
  var dest = [0.4642383454426296, 0, -0.18569533817705183, 0.8660254037844387];
  var q = [0.12101512690846804, 0.3630453807254041, 0, 0.9238795325112867];
</script>

Test runner

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Testing in unknown unknown
Test Ops/sec
standard
 
var aX = dest[0],
    aY = dest[1],
    aZ = dest[2],
    aW = dest[3],
    bX = q[0],
    bY = q[1],
    bZ = q[2],
    bW = q[3];

dest[0] = aW * bX + aX * bW + aY * bZ - aZ * bY;
dest[1] = aW * bY + aY * bW + aZ * bX - aX * bZ;
dest[2] = aW * bZ + aZ * bW + aX * bY - aY * bX;
dest[3] = aW * bW - aX * bX - aY * bY - aZ * bZ;
 pending…
factorized
 
var aX = dest[0],
    aY = dest[1],
    aZ = dest[2],
    aW = dest[3],
    bX = q[0],
    bY = q[1],
    bZ = q[2],
    bW = q[3],
    ww = (aZ + aX) * (bX + bY),
    yy = (aW - aY) * (bW + bZ),
    zz = (aW + aY) * (bW - bZ),
    xx = ww + yy + zz,
    qq = 0.5 * (xx + (aZ - aX) * (bX - bY));

dest[0] = qq - xx + (aX + aW) * (bX + bW);
dest[1] = qq - yy + (aW - aX) * (bY + bZ);
dest[2] = qq - zz + (aZ + aY) * (bW - bX);
dest[3] = qq - ww + (aZ - aY) * (bY - bZ);
 pending…
test
 
var ww = (dest[2] + dest[0]) * (q[0] + q[1]),
    yy = (dest[3] - dest[1]) * (q[3] + q[2]),
    zz = (dest[3] + dest[1]) * (q[3] - q[2]),
    xx = ww + yy + zz,
    qq = 0.5 * (xx + (dest[2] - dest[0]) * (q[0] - q[1]));

dest[0] = qq - xx + (dest[0] + dest[3]) * (q[0] + q[3]);
dest[1] = qq - yy + (dest[3] - dest[0]) * (q[1] + q[2]);
dest[2] = qq - zz + (dest[2] + dest[1]) * (q[3] - q[0]);
dest[3] = qq - ww + (dest[2] - dest[1]) * (q[1] - q[2]);
 
 pending…

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