- pose6s = model->data_poses6s + 6 * (frameblend[blends].subframe * model->num_bones + i);
- lerp = frameblend[blends].lerp;
- x = pose6s[3] * (1.0f / 32767.0f);
- y = pose6s[4] * (1.0f / 32767.0f);
- z = pose6s[5] * (1.0f / 32767.0f);
- w = 1.0f - (x*x+y*y+z*z);
- w = w > 0.0f ? -sqrt(w) : 0.0f;
- m[ 0] += (1-2*(y*y+z*z)) * lerp;
- m[ 1] += ( 2*(x*y-z*w)) * lerp;
- m[ 2] += ( 2*(x*z+y*w)) * lerp;
- m[ 3] += (pose6s[0] * originscale) * lerp;
- m[ 4] += ( 2*(x*y+z*w)) * lerp;
- m[ 5] += (1-2*(x*x+z*z)) * lerp;
- m[ 6] += ( 2*(y*z-x*w)) * lerp;
- m[ 7] += (pose6s[1] * originscale) * lerp;
- m[ 8] += ( 2*(x*z-y*w)) * lerp;
- m[ 9] += ( 2*(y*z+x*w)) * lerp;
- m[10] += (1-2*(x*x+y*y)) * lerp;
- m[11] += (pose6s[2] * originscale) * lerp;
+ const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i);
+ float lerp = frameblend[blends].lerp,
+ tx = pose7s[0], ty = pose7s[1], tz = pose7s[2],
+ qx = pose7s[3], qy = pose7s[4], qz = pose7s[5], qw = pose7s[6];
+ if(rx*qx + ry*qy + rz*qz + rw*qw < 0) lerp = -lerp;
+ qx *= lerp;
+ qy *= lerp;
+ qz *= lerp;
+ qw *= lerp;
+ rx += qx;
+ ry += qy;
+ rz += qz;
+ rw += qw;
+ dx += tx*qw + ty*qz - tz*qy;
+ dy += -tx*qz + ty*qw + tz*qx;
+ dz += tx*qy - ty*qx + tz*qw;
+ dw += -tx*qx - ty*qy - tz*qz;