At the moment there doing a full matrix mul on the SGX, but it's not really neccessary.... Its just:
x' = a*x + b*z;
y' = c*y + d*z;
z' = e*z + f*w
w' = z
where a,b,c,d,e,f = const.
Yea, i have access to the source. I'm meant to be looking into NEON-zing stuff, but i got side tracked with...