git show cbc22908 commit cbc229081a9df67a577b4bea61ad6aac52d470cb Author: Ariya Hidayat Date: Tue Jun 30 11:18:03 2009 +0200 Faster quaternion multiplications. Use the known factorization trick to speed-up quaternion multiplication. Now we need only 9 floating-point multiplications, instead of 16 (but at the cost of extra additions and subtractions).
Ages ago, during my Ph.D research, when I worked with a certain hardware platform (hint: it's not generalized CPU), minimizing the needed number of hardware multipliers with a very little impact in the computation speed makes a huge different. With today's advanced processor architecture armed with vectorized instructions and a really smart optimizing compiler, there is often no need to use the factorized version of the multiplication.
Side note: if you want to like quaternion, see this simple rotatation quiz which can be solved quite easily once you know quaternion.
I try to apply the same trick to PhiloGL, an excellent WebGL framework from Nicolas. Recently, to my delight, he added quaternion support to the accompanying math library in PhiloGL. I think this is a nice chance to try the old trick, as I had the expectation that reducing the number of multiplications from 16 to just 9 could give some slight performance advantage.