Run results for: Quaternion from axis-angle

Run details:

User agent: Mozilla/5.0 (X11; Linux x86_64; rv:151.0) Gecko/20100101 Firefox/151.0

Browser: Firefox 151

Operating system: Linux

Device Platform: Desktop

Date tested: 21 days ago

Test name	Executions per second
Math.acos, cos, sin	24.1 Ops/sec
Math.acos, cos, sqrt	28.5 Ops/sec
Half-angle identity	64.3 Ops/sec

HTML Preparation code:

<!--your preparation HTML code goes here-->

Script Preparation code:

var N = 1000000;
var xs = new Float32Array(N);
var ys = new Float32Array(N);
var zs = new Float32Array(N);
var cos_thetas = new Float32Array(N);

for (var i = 0; i < N; ++i) {
  const x = 2 * Math.random() - 1;
  const y = 2 * Math.random() - 1;
  const z = 2 * Math.random() - 1;
  const mag = Math.sqrt(x * x + y * y + z * z);
  xs[i] = x / mag;
  ys[i] = y / mag;
  zs[i] = z / mag;
}

for (var i = 0; i < N; ++i) {
	cos_thetas[i] = Math.cos(2 * Math.PI * Math.random());
}

Tests:

Math.acos, cos, sin
function quat_from_axis_angle(axis_x, axis_y, axis_z, cos_angle) { const angle = Math.acos(cos_angle) const cos_half_angle = Math.cos(angle / 2) const sin_half_angle = Math.sin(angle / 2) return { a: cos_half_angle, b: sin_half_angle * axis_x, c: sin_half_angle * axis_y, d: sin_half_angle * axis_z, } } for (var i = 0; i < N; ++i) { quat_from_axis_angle(xs[i], ys[i], zs[i], cos_thetas[i]); }
Math.acos, cos, sqrt
function quat_from_axis_angle(axis_x, axis_y, axis_z, cos_angle) { const angle = Math.acos(cos_angle) const cos_half_angle = Math.cos(angle / 2) const sin_half_angle = Math.sqrt(1 - cos_angle * cos_angle) return { a: cos_half_angle, b: sin_half_angle * axis_x, c: sin_half_angle * axis_y, d: sin_half_angle * axis_z, } } for (var i = 0; i < N; ++i) { quat_from_axis_angle(xs[i], ys[i], zs[i], cos_thetas[i]); }
Half-angle identity
function quat_from_axis_angle(axis_x, axis_y, axis_z, cos_angle) { const cos_half_angle = Math.sqrt((1 + cos_angle) / 2) const sin_half_angle = Math.sqrt((1 - cos_angle) / 2) return { a: cos_half_angle, b: sin_half_angle * axis_x, c: sin_half_angle * axis_y, d: sin_half_angle * axis_z, } } for (var i = 0; i < N; ++i) { quat_from_axis_angle(xs[i], ys[i], zs[i], cos_thetas[i]); }

Run results for: Quaternion from axis-angle

Math.acos, cos, sin

Math.acos, cos, sqrt

Half-angle identity