numkong 7.0.0 → 7.4.1

package/include/numkong/mesh/v128relaxed.h

@@ -56,14 +56,14 @@ NK_INTERNAL void nk_deinterleave_f32x4_v128relaxed_(nk_f32_t const *ptr, v128_t
     v128_t v1_f32x4 = wasm_v128_load(ptr + 4); // y1 z1 x2 y2
     v128_t v2_f32x4 = wasm_v128_load(ptr + 8); // z2 x3 y3 z3
     // x0 x1 x2 x3
-    v128_t tmp01 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 0, 3, 6, 0); // x0 x1 x2 _
-    *xs_f32x4 = wasm_i32x4_shuffle(tmp01, v2_f32x4, 0, 1, 2, 5);       // x0 x1 x2 x3
+    v128_t x_partial_f32x4 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 0, 3, 6, 0); // x0 x1 x2 _
+    *xs_f32x4 = wasm_i32x4_shuffle(x_partial_f32x4, v2_f32x4, 0, 1, 2, 5);       // x0 x1 x2 x3
     // y0 y1 y2 y3
-    v128_t tmp23 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 1, 4, 7, 0); // y0 y1 y2 _
-    *ys_f32x4 = wasm_i32x4_shuffle(tmp23, v2_f32x4, 0, 1, 2, 6);       // y0 y1 y2 y3
+    v128_t y_partial_f32x4 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 1, 4, 7, 0); // y0 y1 y2 _
+    *ys_f32x4 = wasm_i32x4_shuffle(y_partial_f32x4, v2_f32x4, 0, 1, 2, 6);       // y0 y1 y2 y3
     // z0 z1 z2 z3
-    v128_t tmp45 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 2, 5, 0, 0); // z0 z1 _ _
-    *zs_f32x4 = wasm_i32x4_shuffle(tmp45, v2_f32x4, 0, 1, 4, 7);       // z0 z1 z2 z3
+    v128_t z_partial_f32x4 = wasm_i32x4_shuffle(v0_f32x4, v1_f32x4, 2, 5, 0, 0); // z0 z1 _ _
+    *zs_f32x4 = wasm_i32x4_shuffle(z_partial_f32x4, v2_f32x4, 0, 1, 4, 7);       // z0 z1 z2 z3
 }
 
 /*  Deinterleave 6 contiguous f64 values (2 XYZ triplets) into separate x, y, z vectors.
@@ -120,89 +120,27 @@ NK_INTERNAL void nk_accumulate_square_f64x2_v128relaxed_(v128_t *sum_f64x2, v128
     *compensation_f64x2 = wasm_f64x2_add(*compensation_f64x2, wasm_f64x2_add(sum_error_f64x2, product_error_f64x2));
 }
 
-NK_INTERNAL void nk_bicentroid_f32_v128relaxed_(       //
-    nk_f32_t const *a, nk_f32_t const *b, nk_size_t n, //
-    nk_f64_t *ca_x, nk_f64_t *ca_y, nk_f64_t *ca_z,    //
-    nk_f64_t *cb_x, nk_f64_t *cb_y, nk_f64_t *cb_z) {  //
-    v128_t zero_f64x2 = wasm_f64x2_splat(0.0);
-    v128_t sum_a_x_lower_f64x2 = zero_f64x2, sum_a_x_upper_f64x2 = zero_f64x2;
-    v128_t sum_a_y_lower_f64x2 = zero_f64x2, sum_a_y_upper_f64x2 = zero_f64x2;
-    v128_t sum_a_z_lower_f64x2 = zero_f64x2, sum_a_z_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_x_lower_f64x2 = zero_f64x2, sum_b_x_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_y_lower_f64x2 = zero_f64x2, sum_b_y_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_z_lower_f64x2 = zero_f64x2, sum_b_z_upper_f64x2 = zero_f64x2;
-    nk_size_t index = 0;
-
-    for (; index + 4 <= n; index += 4) {
-        v128_t a_x_f32x4, a_y_f32x4, a_z_f32x4, b_x_f32x4, b_y_f32x4, b_z_f32x4;
-        nk_deinterleave_f32x4_v128relaxed_(a + index * 3, &a_x_f32x4, &a_y_f32x4, &a_z_f32x4);
-        nk_deinterleave_f32x4_v128relaxed_(b + index * 3, &b_x_f32x4, &b_y_f32x4, &b_z_f32x4);
-
-        v128_t a_x_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
-        v128_t a_x_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
-        v128_t a_y_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
-        v128_t a_y_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
-        v128_t a_z_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
-        v128_t a_z_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
-        v128_t b_x_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_x_f32x4);
-        v128_t b_x_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1));
-        v128_t b_y_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_y_f32x4);
-        v128_t b_y_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1));
-        v128_t b_z_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_z_f32x4);
-        v128_t b_z_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1));
-
-        sum_a_x_lower_f64x2 = wasm_f64x2_add(sum_a_x_lower_f64x2, a_x_lower_f64x2),
-        sum_a_x_upper_f64x2 = wasm_f64x2_add(sum_a_x_upper_f64x2, a_x_upper_f64x2);
-        sum_a_y_lower_f64x2 = wasm_f64x2_add(sum_a_y_lower_f64x2, a_y_lower_f64x2),
-        sum_a_y_upper_f64x2 = wasm_f64x2_add(sum_a_y_upper_f64x2, a_y_upper_f64x2);
-        sum_a_z_lower_f64x2 = wasm_f64x2_add(sum_a_z_lower_f64x2, a_z_lower_f64x2),
-        sum_a_z_upper_f64x2 = wasm_f64x2_add(sum_a_z_upper_f64x2, a_z_upper_f64x2);
-        sum_b_x_lower_f64x2 = wasm_f64x2_add(sum_b_x_lower_f64x2, b_x_lower_f64x2),
-        sum_b_x_upper_f64x2 = wasm_f64x2_add(sum_b_x_upper_f64x2, b_x_upper_f64x2);
-        sum_b_y_lower_f64x2 = wasm_f64x2_add(sum_b_y_lower_f64x2, b_y_lower_f64x2),
-        sum_b_y_upper_f64x2 = wasm_f64x2_add(sum_b_y_upper_f64x2, b_y_upper_f64x2);
-        sum_b_z_lower_f64x2 = wasm_f64x2_add(sum_b_z_lower_f64x2, b_z_lower_f64x2),
-        sum_b_z_upper_f64x2 = wasm_f64x2_add(sum_b_z_upper_f64x2, b_z_upper_f64x2);
-    }
-
-    nk_f64_t sum_a_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_x_lower_f64x2, sum_a_x_upper_f64x2));
-    nk_f64_t sum_a_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_y_lower_f64x2, sum_a_y_upper_f64x2));
-    nk_f64_t sum_a_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_z_lower_f64x2, sum_a_z_upper_f64x2));
-    nk_f64_t sum_b_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_x_lower_f64x2, sum_b_x_upper_f64x2));
-    nk_f64_t sum_b_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_y_lower_f64x2, sum_b_y_upper_f64x2));
-    nk_f64_t sum_b_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_z_lower_f64x2, sum_b_z_upper_f64x2));
-
-    for (; index < n; ++index) {
-        sum_a_x += a[index * 3 + 0], sum_a_y += a[index * 3 + 1], sum_a_z += a[index * 3 + 2];
-        sum_b_x += b[index * 3 + 0], sum_b_y += b[index * 3 + 1], sum_b_z += b[index * 3 + 2];
-    }
-
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    *ca_x = sum_a_x * inv_n, *ca_y = sum_a_y * inv_n, *ca_z = sum_a_z * inv_n;
-    *cb_x = sum_b_x * inv_n, *cb_y = sum_b_y * inv_n, *cb_z = sum_b_z * inv_n;
-}
-
-NK_INTERNAL void nk_centroid_and_cross_covariance_f32_v128relaxed_( //
-    nk_f32_t const *a, nk_f32_t const *b, nk_size_t n,              //
-    nk_f64_t *ca_x, nk_f64_t *ca_y, nk_f64_t *ca_z,                 //
-    nk_f64_t *cb_x, nk_f64_t *cb_y, nk_f64_t *cb_z,                 //
+NK_INTERNAL void nk_centroid_and_cross_covariance_f32_v128relaxed_(         //
+    nk_f32_t const *a, nk_f32_t const *b, nk_size_t n,                      //
+    nk_f64_t *centroid_a_x, nk_f64_t *centroid_a_y, nk_f64_t *centroid_a_z, //
+    nk_f64_t *centroid_b_x, nk_f64_t *centroid_b_y, nk_f64_t *centroid_b_z, //
     nk_f64_t h[9]) {
     v128_t zero_f64x2 = wasm_f64x2_splat(0.0);
-    v128_t sum_a_x_lower_f64x2 = zero_f64x2, sum_a_x_upper_f64x2 = zero_f64x2;
-    v128_t sum_a_y_lower_f64x2 = zero_f64x2, sum_a_y_upper_f64x2 = zero_f64x2;
-    v128_t sum_a_z_lower_f64x2 = zero_f64x2, sum_a_z_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_x_lower_f64x2 = zero_f64x2, sum_b_x_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_y_lower_f64x2 = zero_f64x2, sum_b_y_upper_f64x2 = zero_f64x2;
-    v128_t sum_b_z_lower_f64x2 = zero_f64x2, sum_b_z_upper_f64x2 = zero_f64x2;
-    v128_t cross_00_lower_f64x2 = zero_f64x2, cross_00_upper_f64x2 = zero_f64x2;
-    v128_t cross_01_lower_f64x2 = zero_f64x2, cross_01_upper_f64x2 = zero_f64x2;
-    v128_t cross_02_lower_f64x2 = zero_f64x2, cross_02_upper_f64x2 = zero_f64x2;
-    v128_t cross_10_lower_f64x2 = zero_f64x2, cross_10_upper_f64x2 = zero_f64x2;
-    v128_t cross_11_lower_f64x2 = zero_f64x2, cross_11_upper_f64x2 = zero_f64x2;
-    v128_t cross_12_lower_f64x2 = zero_f64x2, cross_12_upper_f64x2 = zero_f64x2;
-    v128_t cross_20_lower_f64x2 = zero_f64x2, cross_20_upper_f64x2 = zero_f64x2;
-    v128_t cross_21_lower_f64x2 = zero_f64x2, cross_21_upper_f64x2 = zero_f64x2;
-    v128_t cross_22_lower_f64x2 = zero_f64x2, cross_22_upper_f64x2 = zero_f64x2;
+    v128_t sum_a_x_low_f64x2 = zero_f64x2, sum_a_x_high_f64x2 = zero_f64x2;
+    v128_t sum_a_y_low_f64x2 = zero_f64x2, sum_a_y_high_f64x2 = zero_f64x2;
+    v128_t sum_a_z_low_f64x2 = zero_f64x2, sum_a_z_high_f64x2 = zero_f64x2;
+    v128_t sum_b_x_low_f64x2 = zero_f64x2, sum_b_x_high_f64x2 = zero_f64x2;
+    v128_t sum_b_y_low_f64x2 = zero_f64x2, sum_b_y_high_f64x2 = zero_f64x2;
+    v128_t sum_b_z_low_f64x2 = zero_f64x2, sum_b_z_high_f64x2 = zero_f64x2;
+    v128_t cross_00_low_f64x2 = zero_f64x2, cross_00_high_f64x2 = zero_f64x2;
+    v128_t cross_01_low_f64x2 = zero_f64x2, cross_01_high_f64x2 = zero_f64x2;
+    v128_t cross_02_low_f64x2 = zero_f64x2, cross_02_high_f64x2 = zero_f64x2;
+    v128_t cross_10_low_f64x2 = zero_f64x2, cross_10_high_f64x2 = zero_f64x2;
+    v128_t cross_11_low_f64x2 = zero_f64x2, cross_11_high_f64x2 = zero_f64x2;
+    v128_t cross_12_low_f64x2 = zero_f64x2, cross_12_high_f64x2 = zero_f64x2;
+    v128_t cross_20_low_f64x2 = zero_f64x2, cross_20_high_f64x2 = zero_f64x2;
+    v128_t cross_21_low_f64x2 = zero_f64x2, cross_21_high_f64x2 = zero_f64x2;
+    v128_t cross_22_low_f64x2 = zero_f64x2, cross_22_high_f64x2 = zero_f64x2;
     nk_size_t index = 0;
 
     for (; index + 4 <= n; index += 4) {
@@ -210,67 +148,67 @@ NK_INTERNAL void nk_centroid_and_cross_covariance_f32_v128relaxed_( //
         nk_deinterleave_f32x4_v128relaxed_(a + index * 3, &a_x_f32x4, &a_y_f32x4, &a_z_f32x4);
         nk_deinterleave_f32x4_v128relaxed_(b + index * 3, &b_x_f32x4, &b_y_f32x4, &b_z_f32x4);
 
-        v128_t a_x_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
-        v128_t a_x_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
-        v128_t a_y_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
-        v128_t a_y_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
-        v128_t a_z_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
-        v128_t a_z_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
-        v128_t b_x_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_x_f32x4);
-        v128_t b_x_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1));
-        v128_t b_y_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_y_f32x4);
-        v128_t b_y_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1));
-        v128_t b_z_lower_f64x2 = wasm_f64x2_promote_low_f32x4(b_z_f32x4);
-        v128_t b_z_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1));
-
-        sum_a_x_lower_f64x2 = wasm_f64x2_add(sum_a_x_lower_f64x2, a_x_lower_f64x2),
-        sum_a_x_upper_f64x2 = wasm_f64x2_add(sum_a_x_upper_f64x2, a_x_upper_f64x2);
-        sum_a_y_lower_f64x2 = wasm_f64x2_add(sum_a_y_lower_f64x2, a_y_lower_f64x2),
-        sum_a_y_upper_f64x2 = wasm_f64x2_add(sum_a_y_upper_f64x2, a_y_upper_f64x2);
-        sum_a_z_lower_f64x2 = wasm_f64x2_add(sum_a_z_lower_f64x2, a_z_lower_f64x2),
-        sum_a_z_upper_f64x2 = wasm_f64x2_add(sum_a_z_upper_f64x2, a_z_upper_f64x2);
-        sum_b_x_lower_f64x2 = wasm_f64x2_add(sum_b_x_lower_f64x2, b_x_lower_f64x2),
-        sum_b_x_upper_f64x2 = wasm_f64x2_add(sum_b_x_upper_f64x2, b_x_upper_f64x2);
-        sum_b_y_lower_f64x2 = wasm_f64x2_add(sum_b_y_lower_f64x2, b_y_lower_f64x2),
-        sum_b_y_upper_f64x2 = wasm_f64x2_add(sum_b_y_upper_f64x2, b_y_upper_f64x2);
-        sum_b_z_lower_f64x2 = wasm_f64x2_add(sum_b_z_lower_f64x2, b_z_lower_f64x2),
-        sum_b_z_upper_f64x2 = wasm_f64x2_add(sum_b_z_upper_f64x2, b_z_upper_f64x2);
-
-        cross_00_lower_f64x2 = wasm_f64x2_relaxed_madd(a_x_lower_f64x2, b_x_lower_f64x2, cross_00_lower_f64x2),
-        cross_00_upper_f64x2 = wasm_f64x2_relaxed_madd(a_x_upper_f64x2, b_x_upper_f64x2, cross_00_upper_f64x2);
-        cross_01_lower_f64x2 = wasm_f64x2_relaxed_madd(a_x_lower_f64x2, b_y_lower_f64x2, cross_01_lower_f64x2),
-        cross_01_upper_f64x2 = wasm_f64x2_relaxed_madd(a_x_upper_f64x2, b_y_upper_f64x2, cross_01_upper_f64x2);
-        cross_02_lower_f64x2 = wasm_f64x2_relaxed_madd(a_x_lower_f64x2, b_z_lower_f64x2, cross_02_lower_f64x2),
-        cross_02_upper_f64x2 = wasm_f64x2_relaxed_madd(a_x_upper_f64x2, b_z_upper_f64x2, cross_02_upper_f64x2);
-        cross_10_lower_f64x2 = wasm_f64x2_relaxed_madd(a_y_lower_f64x2, b_x_lower_f64x2, cross_10_lower_f64x2),
-        cross_10_upper_f64x2 = wasm_f64x2_relaxed_madd(a_y_upper_f64x2, b_x_upper_f64x2, cross_10_upper_f64x2);
-        cross_11_lower_f64x2 = wasm_f64x2_relaxed_madd(a_y_lower_f64x2, b_y_lower_f64x2, cross_11_lower_f64x2),
-        cross_11_upper_f64x2 = wasm_f64x2_relaxed_madd(a_y_upper_f64x2, b_y_upper_f64x2, cross_11_upper_f64x2);
-        cross_12_lower_f64x2 = wasm_f64x2_relaxed_madd(a_y_lower_f64x2, b_z_lower_f64x2, cross_12_lower_f64x2),
-        cross_12_upper_f64x2 = wasm_f64x2_relaxed_madd(a_y_upper_f64x2, b_z_upper_f64x2, cross_12_upper_f64x2);
-        cross_20_lower_f64x2 = wasm_f64x2_relaxed_madd(a_z_lower_f64x2, b_x_lower_f64x2, cross_20_lower_f64x2),
-        cross_20_upper_f64x2 = wasm_f64x2_relaxed_madd(a_z_upper_f64x2, b_x_upper_f64x2, cross_20_upper_f64x2);
-        cross_21_lower_f64x2 = wasm_f64x2_relaxed_madd(a_z_lower_f64x2, b_y_lower_f64x2, cross_21_lower_f64x2),
-        cross_21_upper_f64x2 = wasm_f64x2_relaxed_madd(a_z_upper_f64x2, b_y_upper_f64x2, cross_21_upper_f64x2);
-        cross_22_lower_f64x2 = wasm_f64x2_relaxed_madd(a_z_lower_f64x2, b_z_lower_f64x2, cross_22_lower_f64x2),
-        cross_22_upper_f64x2 = wasm_f64x2_relaxed_madd(a_z_upper_f64x2, b_z_upper_f64x2, cross_22_upper_f64x2);
+        v128_t a_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
+        v128_t a_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
+        v128_t a_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
+        v128_t a_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
+        v128_t a_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
+        v128_t a_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
+        v128_t b_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_x_f32x4);
+        v128_t b_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1));
+        v128_t b_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_y_f32x4);
+        v128_t b_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1));
+        v128_t b_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_z_f32x4);
+        v128_t b_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1));
+
+        sum_a_x_low_f64x2 = wasm_f64x2_add(sum_a_x_low_f64x2, a_x_low_f64x2),
+        sum_a_x_high_f64x2 = wasm_f64x2_add(sum_a_x_high_f64x2, a_x_high_f64x2);
+        sum_a_y_low_f64x2 = wasm_f64x2_add(sum_a_y_low_f64x2, a_y_low_f64x2),
+        sum_a_y_high_f64x2 = wasm_f64x2_add(sum_a_y_high_f64x2, a_y_high_f64x2);
+        sum_a_z_low_f64x2 = wasm_f64x2_add(sum_a_z_low_f64x2, a_z_low_f64x2),
+        sum_a_z_high_f64x2 = wasm_f64x2_add(sum_a_z_high_f64x2, a_z_high_f64x2);
+        sum_b_x_low_f64x2 = wasm_f64x2_add(sum_b_x_low_f64x2, b_x_low_f64x2),
+        sum_b_x_high_f64x2 = wasm_f64x2_add(sum_b_x_high_f64x2, b_x_high_f64x2);
+        sum_b_y_low_f64x2 = wasm_f64x2_add(sum_b_y_low_f64x2, b_y_low_f64x2),
+        sum_b_y_high_f64x2 = wasm_f64x2_add(sum_b_y_high_f64x2, b_y_high_f64x2);
+        sum_b_z_low_f64x2 = wasm_f64x2_add(sum_b_z_low_f64x2, b_z_low_f64x2),
+        sum_b_z_high_f64x2 = wasm_f64x2_add(sum_b_z_high_f64x2, b_z_high_f64x2);
+
+        cross_00_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_x_low_f64x2, cross_00_low_f64x2),
+        cross_00_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_x_high_f64x2, cross_00_high_f64x2);
+        cross_01_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_y_low_f64x2, cross_01_low_f64x2),
+        cross_01_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_y_high_f64x2, cross_01_high_f64x2);
+        cross_02_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_z_low_f64x2, cross_02_low_f64x2),
+        cross_02_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_z_high_f64x2, cross_02_high_f64x2);
+        cross_10_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_x_low_f64x2, cross_10_low_f64x2),
+        cross_10_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_x_high_f64x2, cross_10_high_f64x2);
+        cross_11_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_y_low_f64x2, cross_11_low_f64x2),
+        cross_11_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_y_high_f64x2, cross_11_high_f64x2);
+        cross_12_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_z_low_f64x2, cross_12_low_f64x2),
+        cross_12_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_z_high_f64x2, cross_12_high_f64x2);
+        cross_20_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_x_low_f64x2, cross_20_low_f64x2),
+        cross_20_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_x_high_f64x2, cross_20_high_f64x2);
+        cross_21_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_y_low_f64x2, cross_21_low_f64x2),
+        cross_21_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_y_high_f64x2, cross_21_high_f64x2);
+        cross_22_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_z_low_f64x2, cross_22_low_f64x2),
+        cross_22_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_z_high_f64x2, cross_22_high_f64x2);
     }
 
-    nk_f64_t sum_a_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_x_lower_f64x2, sum_a_x_upper_f64x2));
-    nk_f64_t sum_a_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_y_lower_f64x2, sum_a_y_upper_f64x2));
-    nk_f64_t sum_a_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_z_lower_f64x2, sum_a_z_upper_f64x2));
-    nk_f64_t sum_b_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_x_lower_f64x2, sum_b_x_upper_f64x2));
-    nk_f64_t sum_b_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_y_lower_f64x2, sum_b_y_upper_f64x2));
-    nk_f64_t sum_b_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_z_lower_f64x2, sum_b_z_upper_f64x2));
-    nk_f64_t cross_00 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_00_lower_f64x2, cross_00_upper_f64x2));
-    nk_f64_t cross_01 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_01_lower_f64x2, cross_01_upper_f64x2));
-    nk_f64_t cross_02 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_02_lower_f64x2, cross_02_upper_f64x2));
-    nk_f64_t cross_10 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_10_lower_f64x2, cross_10_upper_f64x2));
-    nk_f64_t cross_11 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_11_lower_f64x2, cross_11_upper_f64x2));
-    nk_f64_t cross_12 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_12_lower_f64x2, cross_12_upper_f64x2));
-    nk_f64_t cross_20 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_20_lower_f64x2, cross_20_upper_f64x2));
-    nk_f64_t cross_21 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_21_lower_f64x2, cross_21_upper_f64x2));
-    nk_f64_t cross_22 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_22_lower_f64x2, cross_22_upper_f64x2));
+    nk_f64_t sum_a_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_x_low_f64x2, sum_a_x_high_f64x2));
+    nk_f64_t sum_a_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_y_low_f64x2, sum_a_y_high_f64x2));
+    nk_f64_t sum_a_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_z_low_f64x2, sum_a_z_high_f64x2));
+    nk_f64_t sum_b_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_x_low_f64x2, sum_b_x_high_f64x2));
+    nk_f64_t sum_b_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_y_low_f64x2, sum_b_y_high_f64x2));
+    nk_f64_t sum_b_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_z_low_f64x2, sum_b_z_high_f64x2));
+    nk_f64_t cross_00 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_00_low_f64x2, cross_00_high_f64x2));
+    nk_f64_t cross_01 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_01_low_f64x2, cross_01_high_f64x2));
+    nk_f64_t cross_02 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_02_low_f64x2, cross_02_high_f64x2));
+    nk_f64_t cross_10 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_10_low_f64x2, cross_10_high_f64x2));
+    nk_f64_t cross_11 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_11_low_f64x2, cross_11_high_f64x2));
+    nk_f64_t cross_12 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_12_low_f64x2, cross_12_high_f64x2));
+    nk_f64_t cross_20 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_20_low_f64x2, cross_20_high_f64x2));
+    nk_f64_t cross_21 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_21_low_f64x2, cross_21_high_f64x2));
+    nk_f64_t cross_22 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_22_low_f64x2, cross_22_high_f64x2));
 
     for (; index < n; ++index) {
         nk_f64_t a_x = a[index * 3 + 0], a_y = a[index * 3 + 1], a_z = a[index * 3 + 2];
@@ -282,59 +220,157 @@ NK_INTERNAL void nk_centroid_and_cross_covariance_f32_v128relaxed_( //
         cross_20 += a_z * b_x, cross_21 += a_z * b_y, cross_22 += a_z * b_z;
     }
 
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    *ca_x = sum_a_x * inv_n, *ca_y = sum_a_y * inv_n, *ca_z = sum_a_z * inv_n;
-    *cb_x = sum_b_x * inv_n, *cb_y = sum_b_y * inv_n, *cb_z = sum_b_z * inv_n;
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    *centroid_a_x = sum_a_x * inv_points_count, *centroid_a_y = sum_a_y * inv_points_count,
+    *centroid_a_z = sum_a_z * inv_points_count;
+    *centroid_b_x = sum_b_x * inv_points_count, *centroid_b_y = sum_b_y * inv_points_count,
+    *centroid_b_z = sum_b_z * inv_points_count;
 
     nk_f64_t n_f64 = (nk_f64_t)n;
-    h[0] = cross_00 - n_f64 * (*ca_x) * (*cb_x), h[1] = cross_01 - n_f64 * (*ca_x) * (*cb_y),
-    h[2] = cross_02 - n_f64 * (*ca_x) * (*cb_z);
-    h[3] = cross_10 - n_f64 * (*ca_y) * (*cb_x), h[4] = cross_11 - n_f64 * (*ca_y) * (*cb_y),
-    h[5] = cross_12 - n_f64 * (*ca_y) * (*cb_z);
-    h[6] = cross_20 - n_f64 * (*ca_z) * (*cb_x), h[7] = cross_21 - n_f64 * (*ca_z) * (*cb_y),
-    h[8] = cross_22 - n_f64 * (*ca_z) * (*cb_z);
+    h[0] = cross_00 - n_f64 * (*centroid_a_x) * (*centroid_b_x),
+    h[1] = cross_01 - n_f64 * (*centroid_a_x) * (*centroid_b_y),
+    h[2] = cross_02 - n_f64 * (*centroid_a_x) * (*centroid_b_z);
+    h[3] = cross_10 - n_f64 * (*centroid_a_y) * (*centroid_b_x),
+    h[4] = cross_11 - n_f64 * (*centroid_a_y) * (*centroid_b_y),
+    h[5] = cross_12 - n_f64 * (*centroid_a_y) * (*centroid_b_z);
+    h[6] = cross_20 - n_f64 * (*centroid_a_z) * (*centroid_b_x),
+    h[7] = cross_21 - n_f64 * (*centroid_a_z) * (*centroid_b_y),
+    h[8] = cross_22 - n_f64 * (*centroid_a_z) * (*centroid_b_z);
 }
 
 NK_INTERNAL void nk_centroid_and_cross_covariance_and_variance_f32_v128relaxed_( //
     nk_f32_t const *a, nk_f32_t const *b, nk_size_t n,                           //
-    nk_f64_t *ca_x, nk_f64_t *ca_y, nk_f64_t *ca_z,                              //
-    nk_f64_t *cb_x, nk_f64_t *cb_y, nk_f64_t *cb_z,                              //
+    nk_f64_t *centroid_a_x, nk_f64_t *centroid_a_y, nk_f64_t *centroid_a_z,      //
+    nk_f64_t *centroid_b_x, nk_f64_t *centroid_b_y, nk_f64_t *centroid_b_z,      //
     nk_f64_t h[9], nk_f64_t *variance_a) {
     v128_t zero_f64x2 = wasm_f64x2_splat(0.0);
-    v128_t sum_norm_squared_lower_f64x2 = zero_f64x2, sum_norm_squared_upper_f64x2 = zero_f64x2;
-    nk_centroid_and_cross_covariance_f32_v128relaxed_(a, b, n, ca_x, ca_y, ca_z, cb_x, cb_y, cb_z, h);
-
+    v128_t sum_a_x_low_f64x2 = zero_f64x2, sum_a_x_high_f64x2 = zero_f64x2;
+    v128_t sum_a_y_low_f64x2 = zero_f64x2, sum_a_y_high_f64x2 = zero_f64x2;
+    v128_t sum_a_z_low_f64x2 = zero_f64x2, sum_a_z_high_f64x2 = zero_f64x2;
+    v128_t sum_b_x_low_f64x2 = zero_f64x2, sum_b_x_high_f64x2 = zero_f64x2;
+    v128_t sum_b_y_low_f64x2 = zero_f64x2, sum_b_y_high_f64x2 = zero_f64x2;
+    v128_t sum_b_z_low_f64x2 = zero_f64x2, sum_b_z_high_f64x2 = zero_f64x2;
+    v128_t cross_00_low_f64x2 = zero_f64x2, cross_00_high_f64x2 = zero_f64x2;
+    v128_t cross_01_low_f64x2 = zero_f64x2, cross_01_high_f64x2 = zero_f64x2;
+    v128_t cross_02_low_f64x2 = zero_f64x2, cross_02_high_f64x2 = zero_f64x2;
+    v128_t cross_10_low_f64x2 = zero_f64x2, cross_10_high_f64x2 = zero_f64x2;
+    v128_t cross_11_low_f64x2 = zero_f64x2, cross_11_high_f64x2 = zero_f64x2;
+    v128_t cross_12_low_f64x2 = zero_f64x2, cross_12_high_f64x2 = zero_f64x2;
+    v128_t cross_20_low_f64x2 = zero_f64x2, cross_20_high_f64x2 = zero_f64x2;
+    v128_t cross_21_low_f64x2 = zero_f64x2, cross_21_high_f64x2 = zero_f64x2;
+    v128_t cross_22_low_f64x2 = zero_f64x2, cross_22_high_f64x2 = zero_f64x2;
+    v128_t sum_norm_squared_low_f64x2 = zero_f64x2, sum_norm_squared_high_f64x2 = zero_f64x2;
     nk_size_t index = 0;
+
     for (; index + 4 <= n; index += 4) {
-        v128_t a_x_f32x4, a_y_f32x4, a_z_f32x4;
+        v128_t a_x_f32x4, a_y_f32x4, a_z_f32x4, b_x_f32x4, b_y_f32x4, b_z_f32x4;
         nk_deinterleave_f32x4_v128relaxed_(a + index * 3, &a_x_f32x4, &a_y_f32x4, &a_z_f32x4);
+        nk_deinterleave_f32x4_v128relaxed_(b + index * 3, &b_x_f32x4, &b_y_f32x4, &b_z_f32x4);
 
-        v128_t a_x_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
-        v128_t a_x_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
-        v128_t a_y_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
-        v128_t a_y_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
-        v128_t a_z_lower_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
-        v128_t a_z_upper_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
-
-        v128_t norm_squared_lower_f64x2 = wasm_f64x2_relaxed_madd(a_y_lower_f64x2, a_y_lower_f64x2,
-                                                                  wasm_f64x2_mul(a_x_lower_f64x2, a_x_lower_f64x2));
-        v128_t norm_squared_upper_f64x2 = wasm_f64x2_relaxed_madd(a_y_upper_f64x2, a_y_upper_f64x2,
-                                                                  wasm_f64x2_mul(a_x_upper_f64x2, a_x_upper_f64x2));
-        norm_squared_lower_f64x2 = wasm_f64x2_relaxed_madd(a_z_lower_f64x2, a_z_lower_f64x2, norm_squared_lower_f64x2);
-        norm_squared_upper_f64x2 = wasm_f64x2_relaxed_madd(a_z_upper_f64x2, a_z_upper_f64x2, norm_squared_upper_f64x2);
-        sum_norm_squared_lower_f64x2 = wasm_f64x2_add(sum_norm_squared_lower_f64x2, norm_squared_lower_f64x2),
-        sum_norm_squared_upper_f64x2 = wasm_f64x2_add(sum_norm_squared_upper_f64x2, norm_squared_upper_f64x2);
+        v128_t a_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
+        v128_t a_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
+        v128_t a_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
+        v128_t a_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
+        v128_t a_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
+        v128_t a_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
+        v128_t b_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_x_f32x4);
+        v128_t b_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1));
+        v128_t b_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_y_f32x4);
+        v128_t b_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1));
+        v128_t b_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_z_f32x4);
+        v128_t b_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1));
+
+        sum_a_x_low_f64x2 = wasm_f64x2_add(sum_a_x_low_f64x2, a_x_low_f64x2),
+        sum_a_x_high_f64x2 = wasm_f64x2_add(sum_a_x_high_f64x2, a_x_high_f64x2);
+        sum_a_y_low_f64x2 = wasm_f64x2_add(sum_a_y_low_f64x2, a_y_low_f64x2),
+        sum_a_y_high_f64x2 = wasm_f64x2_add(sum_a_y_high_f64x2, a_y_high_f64x2);
+        sum_a_z_low_f64x2 = wasm_f64x2_add(sum_a_z_low_f64x2, a_z_low_f64x2),
+        sum_a_z_high_f64x2 = wasm_f64x2_add(sum_a_z_high_f64x2, a_z_high_f64x2);
+        sum_b_x_low_f64x2 = wasm_f64x2_add(sum_b_x_low_f64x2, b_x_low_f64x2),
+        sum_b_x_high_f64x2 = wasm_f64x2_add(sum_b_x_high_f64x2, b_x_high_f64x2);
+        sum_b_y_low_f64x2 = wasm_f64x2_add(sum_b_y_low_f64x2, b_y_low_f64x2),
+        sum_b_y_high_f64x2 = wasm_f64x2_add(sum_b_y_high_f64x2, b_y_high_f64x2);
+        sum_b_z_low_f64x2 = wasm_f64x2_add(sum_b_z_low_f64x2, b_z_low_f64x2),
+        sum_b_z_high_f64x2 = wasm_f64x2_add(sum_b_z_high_f64x2, b_z_high_f64x2);
+
+        cross_00_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_x_low_f64x2, cross_00_low_f64x2),
+        cross_00_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_x_high_f64x2, cross_00_high_f64x2);
+        cross_01_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_y_low_f64x2, cross_01_low_f64x2),
+        cross_01_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_y_high_f64x2, cross_01_high_f64x2);
+        cross_02_low_f64x2 = wasm_f64x2_relaxed_madd(a_x_low_f64x2, b_z_low_f64x2, cross_02_low_f64x2),
+        cross_02_high_f64x2 = wasm_f64x2_relaxed_madd(a_x_high_f64x2, b_z_high_f64x2, cross_02_high_f64x2);
+        cross_10_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_x_low_f64x2, cross_10_low_f64x2),
+        cross_10_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_x_high_f64x2, cross_10_high_f64x2);
+        cross_11_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_y_low_f64x2, cross_11_low_f64x2),
+        cross_11_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_y_high_f64x2, cross_11_high_f64x2);
+        cross_12_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, b_z_low_f64x2, cross_12_low_f64x2),
+        cross_12_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, b_z_high_f64x2, cross_12_high_f64x2);
+        cross_20_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_x_low_f64x2, cross_20_low_f64x2),
+        cross_20_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_x_high_f64x2, cross_20_high_f64x2);
+        cross_21_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_y_low_f64x2, cross_21_low_f64x2),
+        cross_21_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_y_high_f64x2, cross_21_high_f64x2);
+        cross_22_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, b_z_low_f64x2, cross_22_low_f64x2),
+        cross_22_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, b_z_high_f64x2, cross_22_high_f64x2);
+
+        // Variance: accumulate ||a||^2.
+        v128_t norm_squared_low_f64x2 = wasm_f64x2_relaxed_madd(a_y_low_f64x2, a_y_low_f64x2,
+                                                                wasm_f64x2_mul(a_x_low_f64x2, a_x_low_f64x2));
+        v128_t norm_squared_high_f64x2 = wasm_f64x2_relaxed_madd(a_y_high_f64x2, a_y_high_f64x2,
+                                                                 wasm_f64x2_mul(a_x_high_f64x2, a_x_high_f64x2));
+        norm_squared_low_f64x2 = wasm_f64x2_relaxed_madd(a_z_low_f64x2, a_z_low_f64x2, norm_squared_low_f64x2);
+        norm_squared_high_f64x2 = wasm_f64x2_relaxed_madd(a_z_high_f64x2, a_z_high_f64x2, norm_squared_high_f64x2);
+        sum_norm_squared_low_f64x2 = wasm_f64x2_add(sum_norm_squared_low_f64x2, norm_squared_low_f64x2);
+        sum_norm_squared_high_f64x2 = wasm_f64x2_add(sum_norm_squared_high_f64x2, norm_squared_high_f64x2);
     }
 
+    nk_f64_t sum_a_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_x_low_f64x2, sum_a_x_high_f64x2));
+    nk_f64_t sum_a_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_y_low_f64x2, sum_a_y_high_f64x2));
+    nk_f64_t sum_a_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_z_low_f64x2, sum_a_z_high_f64x2));
+    nk_f64_t sum_b_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_x_low_f64x2, sum_b_x_high_f64x2));
+    nk_f64_t sum_b_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_y_low_f64x2, sum_b_y_high_f64x2));
+    nk_f64_t sum_b_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_z_low_f64x2, sum_b_z_high_f64x2));
+    nk_f64_t cross_00 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_00_low_f64x2, cross_00_high_f64x2));
+    nk_f64_t cross_01 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_01_low_f64x2, cross_01_high_f64x2));
+    nk_f64_t cross_02 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_02_low_f64x2, cross_02_high_f64x2));
+    nk_f64_t cross_10 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_10_low_f64x2, cross_10_high_f64x2));
+    nk_f64_t cross_11 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_11_low_f64x2, cross_11_high_f64x2));
+    nk_f64_t cross_12 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_12_low_f64x2, cross_12_high_f64x2));
+    nk_f64_t cross_20 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_20_low_f64x2, cross_20_high_f64x2));
+    nk_f64_t cross_21 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_21_low_f64x2, cross_21_high_f64x2));
+    nk_f64_t cross_22 = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(cross_22_low_f64x2, cross_22_high_f64x2));
     nk_f64_t sum_norm_squared = nk_hsum_f64x2_v128relaxed_(
-        wasm_f64x2_add(sum_norm_squared_lower_f64x2, sum_norm_squared_upper_f64x2));
+        wasm_f64x2_add(sum_norm_squared_low_f64x2, sum_norm_squared_high_f64x2));
+
     for (; index < n; ++index) {
         nk_f64_t a_x = a[index * 3 + 0], a_y = a[index * 3 + 1], a_z = a[index * 3 + 2];
+        nk_f64_t b_x = b[index * 3 + 0], b_y = b[index * 3 + 1], b_z = b[index * 3 + 2];
+        sum_a_x += a_x, sum_a_y += a_y, sum_a_z += a_z;
+        sum_b_x += b_x, sum_b_y += b_y, sum_b_z += b_z;
+        cross_00 += a_x * b_x, cross_01 += a_x * b_y, cross_02 += a_x * b_z;
+        cross_10 += a_y * b_x, cross_11 += a_y * b_y, cross_12 += a_y * b_z;
+        cross_20 += a_z * b_x, cross_21 += a_z * b_y, cross_22 += a_z * b_z;
         sum_norm_squared += a_x * a_x + a_y * a_y + a_z * a_z;
     }
 
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    *variance_a = sum_norm_squared * inv_n - ((*ca_x) * (*ca_x) + (*ca_y) * (*ca_y) + (*ca_z) * (*ca_z));
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    *centroid_a_x = sum_a_x * inv_points_count, *centroid_a_y = sum_a_y * inv_points_count,
+    *centroid_a_z = sum_a_z * inv_points_count;
+    *centroid_b_x = sum_b_x * inv_points_count, *centroid_b_y = sum_b_y * inv_points_count,
+    *centroid_b_z = sum_b_z * inv_points_count;
+
+    nk_f64_t n_f64 = (nk_f64_t)n;
+    h[0] = cross_00 - n_f64 * (*centroid_a_x) * (*centroid_b_x),
+    h[1] = cross_01 - n_f64 * (*centroid_a_x) * (*centroid_b_y),
+    h[2] = cross_02 - n_f64 * (*centroid_a_x) * (*centroid_b_z);
+    h[3] = cross_10 - n_f64 * (*centroid_a_y) * (*centroid_b_x),
+    h[4] = cross_11 - n_f64 * (*centroid_a_y) * (*centroid_b_y),
+    h[5] = cross_12 - n_f64 * (*centroid_a_y) * (*centroid_b_z);
+    h[6] = cross_20 - n_f64 * (*centroid_a_z) * (*centroid_b_x),
+    h[7] = cross_21 - n_f64 * (*centroid_a_z) * (*centroid_b_y),
+    h[8] = cross_22 - n_f64 * (*centroid_a_z) * (*centroid_b_z);
+    *variance_a = sum_norm_squared * inv_points_count -
+                  ((*centroid_a_x) * (*centroid_a_x) + (*centroid_a_y) * (*centroid_a_y) +
+                   (*centroid_a_z) * (*centroid_a_z));
 }
 
 NK_INTERNAL nk_f64_t nk_transformed_ssd_f32_v128relaxed_( //
@@ -352,7 +388,7 @@ NK_INTERNAL nk_f64_t nk_transformed_ssd_f32_v128relaxed_( //
     v128_t centroid_a_x_f64x2 = wasm_f64x2_splat(centroid_a_x), centroid_a_y_f64x2 = wasm_f64x2_splat(centroid_a_y);
     v128_t centroid_a_z_f64x2 = wasm_f64x2_splat(centroid_a_z), centroid_b_x_f64x2 = wasm_f64x2_splat(centroid_b_x);
     v128_t centroid_b_y_f64x2 = wasm_f64x2_splat(centroid_b_y), centroid_b_z_f64x2 = wasm_f64x2_splat(centroid_b_z);
-    v128_t sum_squared_lower_f64x2 = wasm_f64x2_splat(0.0), sum_squared_upper_f64x2 = wasm_f64x2_splat(0.0);
+    v128_t sum_squared_low_f64x2 = wasm_f64x2_splat(0.0), sum_squared_high_f64x2 = wasm_f64x2_splat(0.0);
     nk_size_t index = 0;
 
     for (; index + 4 <= n; index += 4) {
@@ -360,82 +396,79 @@ NK_INTERNAL nk_f64_t nk_transformed_ssd_f32_v128relaxed_( //
         nk_deinterleave_f32x4_v128relaxed_(a + index * 3, &a_x_f32x4, &a_y_f32x4, &a_z_f32x4);
         nk_deinterleave_f32x4_v128relaxed_(b + index * 3, &b_x_f32x4, &b_y_f32x4, &b_z_f32x4);
 
-        v128_t centered_a_x_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_x_f32x4), centroid_a_x_f64x2);
-        v128_t centered_a_x_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_a_x_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_x_f32x4), centroid_a_x_f64x2);
+        v128_t centered_a_x_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1)), centroid_a_x_f64x2);
-        v128_t centered_a_y_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_y_f32x4), centroid_a_y_f64x2);
-        v128_t centered_a_y_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_a_y_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_y_f32x4), centroid_a_y_f64x2);
+        v128_t centered_a_y_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1)), centroid_a_y_f64x2);
-        v128_t centered_a_z_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_z_f32x4), centroid_a_z_f64x2);
-        v128_t centered_a_z_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_a_z_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(a_z_f32x4), centroid_a_z_f64x2);
+        v128_t centered_a_z_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1)), centroid_a_z_f64x2);
-        v128_t centered_b_x_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_x_f32x4), centroid_b_x_f64x2);
-        v128_t centered_b_x_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_b_x_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_x_f32x4), centroid_b_x_f64x2);
+        v128_t centered_b_x_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1)), centroid_b_x_f64x2);
-        v128_t centered_b_y_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_y_f32x4), centroid_b_y_f64x2);
-        v128_t centered_b_y_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_b_y_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_y_f32x4), centroid_b_y_f64x2);
+        v128_t centered_b_y_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1)), centroid_b_y_f64x2);
-        v128_t centered_b_z_lower_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_z_f32x4), centroid_b_z_f64x2);
-        v128_t centered_b_z_upper_f64x2 = wasm_f64x2_sub(
+        v128_t centered_b_z_low_f64x2 = wasm_f64x2_sub(wasm_f64x2_promote_low_f32x4(b_z_f32x4), centroid_b_z_f64x2);
+        v128_t centered_b_z_high_f64x2 = wasm_f64x2_sub(
             wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1)), centroid_b_z_f64x2);
 
-        v128_t rotated_a_x_lower_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_x_z_f64x2, centered_a_z_lower_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, centered_a_y_lower_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_x_x_f64x2, centered_a_x_lower_f64x2)));
-        v128_t rotated_a_x_upper_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_x_z_f64x2, centered_a_z_upper_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, centered_a_y_upper_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_x_x_f64x2, centered_a_x_upper_f64x2)));
-        v128_t rotated_a_y_lower_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_y_z_f64x2, centered_a_z_lower_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, centered_a_y_lower_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_y_x_f64x2, centered_a_x_lower_f64x2)));
-        v128_t rotated_a_y_upper_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_y_z_f64x2, centered_a_z_upper_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, centered_a_y_upper_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_y_x_f64x2, centered_a_x_upper_f64x2)));
-        v128_t rotated_a_z_lower_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_z_z_f64x2, centered_a_z_lower_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, centered_a_y_lower_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_z_x_f64x2, centered_a_x_lower_f64x2)));
-        v128_t rotated_a_z_upper_f64x2 = wasm_f64x2_relaxed_madd(
-            scaled_rotation_z_z_f64x2, centered_a_z_upper_f64x2,
-            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, centered_a_y_upper_f64x2,
-                                    wasm_f64x2_mul(scaled_rotation_z_x_f64x2, centered_a_x_upper_f64x2)));
-
-        v128_t delta_x_lower_f64x2 = wasm_f64x2_sub(rotated_a_x_lower_f64x2, centered_b_x_lower_f64x2);
-        v128_t delta_x_upper_f64x2 = wasm_f64x2_sub(rotated_a_x_upper_f64x2, centered_b_x_upper_f64x2);
-        v128_t delta_y_lower_f64x2 = wasm_f64x2_sub(rotated_a_y_lower_f64x2, centered_b_y_lower_f64x2);
-        v128_t delta_y_upper_f64x2 = wasm_f64x2_sub(rotated_a_y_upper_f64x2, centered_b_y_upper_f64x2);
-        v128_t delta_z_lower_f64x2 = wasm_f64x2_sub(rotated_a_z_lower_f64x2, centered_b_z_lower_f64x2);
-        v128_t delta_z_upper_f64x2 = wasm_f64x2_sub(rotated_a_z_upper_f64x2, centered_b_z_upper_f64x2);
-
-        sum_squared_lower_f64x2 = wasm_f64x2_relaxed_madd(delta_x_lower_f64x2, delta_x_lower_f64x2,
-                                                          sum_squared_lower_f64x2);
-        sum_squared_upper_f64x2 = wasm_f64x2_relaxed_madd(delta_x_upper_f64x2, delta_x_upper_f64x2,
-                                                          sum_squared_upper_f64x2);
-        sum_squared_lower_f64x2 = wasm_f64x2_relaxed_madd(delta_y_lower_f64x2, delta_y_lower_f64x2,
-                                                          sum_squared_lower_f64x2);
-        sum_squared_upper_f64x2 = wasm_f64x2_relaxed_madd(delta_y_upper_f64x2, delta_y_upper_f64x2,
-                                                          sum_squared_upper_f64x2);
-        sum_squared_lower_f64x2 = wasm_f64x2_relaxed_madd(delta_z_lower_f64x2, delta_z_lower_f64x2,
-                                                          sum_squared_lower_f64x2);
-        sum_squared_upper_f64x2 = wasm_f64x2_relaxed_madd(delta_z_upper_f64x2, delta_z_upper_f64x2,
-                                                          sum_squared_upper_f64x2);
+        v128_t rotated_a_x_low_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_x_z_f64x2, centered_a_z_low_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, centered_a_y_low_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_x_x_f64x2, centered_a_x_low_f64x2)));
+        v128_t rotated_a_x_high_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_x_z_f64x2, centered_a_z_high_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, centered_a_y_high_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_x_x_f64x2, centered_a_x_high_f64x2)));
+        v128_t rotated_a_y_low_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_y_z_f64x2, centered_a_z_low_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, centered_a_y_low_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_y_x_f64x2, centered_a_x_low_f64x2)));
+        v128_t rotated_a_y_high_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_y_z_f64x2, centered_a_z_high_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, centered_a_y_high_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_y_x_f64x2, centered_a_x_high_f64x2)));
+        v128_t rotated_a_z_low_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_z_z_f64x2, centered_a_z_low_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, centered_a_y_low_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_z_x_f64x2, centered_a_x_low_f64x2)));
+        v128_t rotated_a_z_high_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_z_z_f64x2, centered_a_z_high_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, centered_a_y_high_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_z_x_f64x2, centered_a_x_high_f64x2)));
+
+        v128_t delta_x_low_f64x2 = wasm_f64x2_sub(rotated_a_x_low_f64x2, centered_b_x_low_f64x2);
+        v128_t delta_x_high_f64x2 = wasm_f64x2_sub(rotated_a_x_high_f64x2, centered_b_x_high_f64x2);
+        v128_t delta_y_low_f64x2 = wasm_f64x2_sub(rotated_a_y_low_f64x2, centered_b_y_low_f64x2);
+        v128_t delta_y_high_f64x2 = wasm_f64x2_sub(rotated_a_y_high_f64x2, centered_b_y_high_f64x2);
+        v128_t delta_z_low_f64x2 = wasm_f64x2_sub(rotated_a_z_low_f64x2, centered_b_z_low_f64x2);
+        v128_t delta_z_high_f64x2 = wasm_f64x2_sub(rotated_a_z_high_f64x2, centered_b_z_high_f64x2);
+
+        sum_squared_low_f64x2 = wasm_f64x2_relaxed_madd(delta_x_low_f64x2, delta_x_low_f64x2, sum_squared_low_f64x2);
+        sum_squared_high_f64x2 = wasm_f64x2_relaxed_madd(delta_x_high_f64x2, delta_x_high_f64x2,
+                                                         sum_squared_high_f64x2);
+        sum_squared_low_f64x2 = wasm_f64x2_relaxed_madd(delta_y_low_f64x2, delta_y_low_f64x2, sum_squared_low_f64x2);
+        sum_squared_high_f64x2 = wasm_f64x2_relaxed_madd(delta_y_high_f64x2, delta_y_high_f64x2,
+                                                         sum_squared_high_f64x2);
+        sum_squared_low_f64x2 = wasm_f64x2_relaxed_madd(delta_z_low_f64x2, delta_z_low_f64x2, sum_squared_low_f64x2);
+        sum_squared_high_f64x2 = wasm_f64x2_relaxed_madd(delta_z_high_f64x2, delta_z_high_f64x2,
+                                                         sum_squared_high_f64x2);
     }
 
-    nk_f64_t sum_squared = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_squared_lower_f64x2, sum_squared_upper_f64x2));
+    nk_f64_t sum_squared = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_squared_low_f64x2, sum_squared_high_f64x2));
     for (; index < n; ++index) {
-        nk_f64_t centered_a_x = (nk_f64_t)a[index * 3 + 0] - centroid_a_x;
-        nk_f64_t centered_a_y = (nk_f64_t)a[index * 3 + 1] - centroid_a_y;
-        nk_f64_t centered_a_z = (nk_f64_t)a[index * 3 + 2] - centroid_a_z;
-        nk_f64_t centered_b_x = (nk_f64_t)b[index * 3 + 0] - centroid_b_x;
-        nk_f64_t centered_b_y = (nk_f64_t)b[index * 3 + 1] - centroid_b_y;
-        nk_f64_t centered_b_z = (nk_f64_t)b[index * 3 + 2] - centroid_b_z;
-        nk_f64_t rotated_a_x = scale * (r[0] * centered_a_x + r[1] * centered_a_y + r[2] * centered_a_z);
-        nk_f64_t rotated_a_y = scale * (r[3] * centered_a_x + r[4] * centered_a_y + r[5] * centered_a_z);
-        nk_f64_t rotated_a_z = scale * (r[6] * centered_a_x + r[7] * centered_a_y + r[8] * centered_a_z);
+        nk_f64_t centered_a_x = (nk_f64_t)a[index * 3 + 0] - centroid_a_x,
+                 centered_a_y = (nk_f64_t)a[index * 3 + 1] - centroid_a_y,
+                 centered_a_z = (nk_f64_t)a[index * 3 + 2] - centroid_a_z;
+        nk_f64_t centered_b_x = (nk_f64_t)b[index * 3 + 0] - centroid_b_x,
+                 centered_b_y = (nk_f64_t)b[index * 3 + 1] - centroid_b_y,
+                 centered_b_z = (nk_f64_t)b[index * 3 + 2] - centroid_b_z;
+        nk_f64_t rotated_a_x = scale * (r[0] * centered_a_x + r[1] * centered_a_y + r[2] * centered_a_z),
+                 rotated_a_y = scale * (r[3] * centered_a_x + r[4] * centered_a_y + r[5] * centered_a_z),
+                 rotated_a_z = scale * (r[6] * centered_a_x + r[7] * centered_a_y + r[8] * centered_a_z);
         nk_f64_t delta_x = rotated_a_x - centered_b_x, delta_y = rotated_a_y - centered_b_y,
                  delta_z = rotated_a_z - centered_b_z;
         sum_squared += delta_x * delta_x + delta_y * delta_y + delta_z * delta_z;
@@ -474,35 +507,38 @@ NK_INTERNAL nk_f64_t nk_transformed_ssd_f64_v128relaxed_(nk_f64_t const *a, nk_f
 
     // Main loop: process 2 points per iteration
     for (; j + 2 <= n; j += 2) {
-        v128_t a_x, a_y, a_z, b_x, b_y, b_z;
-        nk_deinterleave_f64x2_v128relaxed_(a + j * 3, &a_x, &a_y, &a_z);
-        nk_deinterleave_f64x2_v128relaxed_(b + j * 3, &b_x, &b_y, &b_z);
+        v128_t a_x_f64x2, a_y_f64x2, a_z_f64x2, b_x_f64x2, b_y_f64x2, b_z_f64x2;
+        nk_deinterleave_f64x2_v128relaxed_(a + j * 3, &a_x_f64x2, &a_y_f64x2, &a_z_f64x2);
+        nk_deinterleave_f64x2_v128relaxed_(b + j * 3, &b_x_f64x2, &b_y_f64x2, &b_z_f64x2);
 
-        v128_t pa_x = wasm_f64x2_sub(a_x, centroid_a_x_f64x2);
-        v128_t pa_y = wasm_f64x2_sub(a_y, centroid_a_y_f64x2);
-        v128_t pa_z = wasm_f64x2_sub(a_z, centroid_a_z_f64x2);
-        v128_t pb_x = wasm_f64x2_sub(b_x, centroid_b_x_f64x2);
-        v128_t pb_y = wasm_f64x2_sub(b_y, centroid_b_y_f64x2);
-        v128_t pb_z = wasm_f64x2_sub(b_z, centroid_b_z_f64x2);
+        v128_t centered_a_x_f64x2 = wasm_f64x2_sub(a_x_f64x2, centroid_a_x_f64x2);
+        v128_t centered_a_y_f64x2 = wasm_f64x2_sub(a_y_f64x2, centroid_a_y_f64x2);
+        v128_t centered_a_z_f64x2 = wasm_f64x2_sub(a_z_f64x2, centroid_a_z_f64x2);
+        v128_t centered_b_x_f64x2 = wasm_f64x2_sub(b_x_f64x2, centroid_b_x_f64x2);
+        v128_t centered_b_y_f64x2 = wasm_f64x2_sub(b_y_f64x2, centroid_b_y_f64x2);
+        v128_t centered_b_z_f64x2 = wasm_f64x2_sub(b_z_f64x2, centroid_b_z_f64x2);
 
         // Rotate and scale: ra = scale * R * pa
-        v128_t ra_x = wasm_f64x2_relaxed_madd(
-            scaled_rotation_x_z_f64x2, pa_z,
-            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, pa_y, wasm_f64x2_mul(scaled_rotation_x_x_f64x2, pa_x)));
-        v128_t ra_y = wasm_f64x2_relaxed_madd(
-            scaled_rotation_y_z_f64x2, pa_z,
-            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, pa_y, wasm_f64x2_mul(scaled_rotation_y_x_f64x2, pa_x)));
-        v128_t ra_z = wasm_f64x2_relaxed_madd(
-            scaled_rotation_z_z_f64x2, pa_z,
-            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, pa_y, wasm_f64x2_mul(scaled_rotation_z_x_f64x2, pa_x)));
-
-        v128_t delta_x = wasm_f64x2_sub(ra_x, pb_x);
-        v128_t delta_y = wasm_f64x2_sub(ra_y, pb_y);
-        v128_t delta_z = wasm_f64x2_sub(ra_z, pb_z);
-
-        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_x);
-        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_y);
-        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_z);
+        v128_t rotated_a_x_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_x_z_f64x2, centered_a_z_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_x_y_f64x2, centered_a_y_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_x_x_f64x2, centered_a_x_f64x2)));
+        v128_t rotated_a_y_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_y_z_f64x2, centered_a_z_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_y_y_f64x2, centered_a_y_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_y_x_f64x2, centered_a_x_f64x2)));
+        v128_t rotated_a_z_f64x2 = wasm_f64x2_relaxed_madd(
+            scaled_rotation_z_z_f64x2, centered_a_z_f64x2,
+            wasm_f64x2_relaxed_madd(scaled_rotation_z_y_f64x2, centered_a_y_f64x2,
+                                    wasm_f64x2_mul(scaled_rotation_z_x_f64x2, centered_a_x_f64x2)));
+
+        v128_t delta_x_f64x2 = wasm_f64x2_sub(rotated_a_x_f64x2, centered_b_x_f64x2);
+        v128_t delta_y_f64x2 = wasm_f64x2_sub(rotated_a_y_f64x2, centered_b_y_f64x2);
+        v128_t delta_z_f64x2 = wasm_f64x2_sub(rotated_a_z_f64x2, centered_b_z_f64x2);
+
+        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_x_f64x2);
+        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_y_f64x2);
+        nk_accumulate_square_f64x2_v128relaxed_(&sum_squared_f64x2, &sum_squared_compensation_f64x2, delta_z_f64x2);
     }
 
     nk_f64_t sum_squared = nk_dot_stable_sum_f64x2_v128relaxed_(sum_squared_f64x2, sum_squared_compensation_f64x2);
@@ -510,20 +546,16 @@ NK_INTERNAL nk_f64_t nk_transformed_ssd_f64_v128relaxed_(nk_f64_t const *a, nk_f
 
     // Scalar tail
     for (; j < n; ++j) {
-        nk_f64_t pa_x = a[j * 3 + 0] - centroid_a_x;
-        nk_f64_t pa_y = a[j * 3 + 1] - centroid_a_y;
-        nk_f64_t pa_z = a[j * 3 + 2] - centroid_a_z;
-        nk_f64_t pb_x = b[j * 3 + 0] - centroid_b_x;
-        nk_f64_t pb_y = b[j * 3 + 1] - centroid_b_y;
-        nk_f64_t pb_z = b[j * 3 + 2] - centroid_b_z;
-
-        nk_f64_t ra_x = scale * (r[0] * pa_x + r[1] * pa_y + r[2] * pa_z);
-        nk_f64_t ra_y = scale * (r[3] * pa_x + r[4] * pa_y + r[5] * pa_z);
-        nk_f64_t ra_z = scale * (r[6] * pa_x + r[7] * pa_y + r[8] * pa_z);
-
-        nk_f64_t delta_x = ra_x - pb_x;
-        nk_f64_t delta_y = ra_y - pb_y;
-        nk_f64_t delta_z = ra_z - pb_z;
+        nk_f64_t pa_x = a[j * 3 + 0] - centroid_a_x, pa_y = a[j * 3 + 1] - centroid_a_y,
+                 pa_z = a[j * 3 + 2] - centroid_a_z;
+        nk_f64_t pb_x = b[j * 3 + 0] - centroid_b_x, pb_y = b[j * 3 + 1] - centroid_b_y,
+                 pb_z = b[j * 3 + 2] - centroid_b_z;
+
+        nk_f64_t ra_x = scale * (r[0] * pa_x + r[1] * pa_y + r[2] * pa_z),
+                 ra_y = scale * (r[3] * pa_x + r[4] * pa_y + r[5] * pa_z),
+                 ra_z = scale * (r[6] * pa_x + r[7] * pa_y + r[8] * pa_z);
+
+        nk_f64_t delta_x = ra_x - pb_x, delta_y = ra_y - pb_y, delta_z = ra_z - pb_z;
         nk_accumulate_square_f64_(&sum_squared, &sum_squared_compensation, delta_x);
         nk_accumulate_square_f64_(&sum_squared, &sum_squared_compensation, delta_y);
         nk_accumulate_square_f64_(&sum_squared, &sum_squared_compensation, delta_z);
@@ -534,37 +566,121 @@ NK_INTERNAL nk_f64_t nk_transformed_ssd_f64_v128relaxed_(nk_f64_t const *a, nk_f
 
 NK_PUBLIC void nk_rmsd_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b, nk_size_t n, nk_f32_t *a_centroid,
                                        nk_f32_t *b_centroid, nk_f32_t *rotation, nk_f32_t *scale, nk_f64_t *result) {
-    // RMSD uses identity rotation and scale=1.0.
-    if (rotation) {
-        rotation[0] = 1, rotation[1] = 0, rotation[2] = 0;
-        rotation[3] = 0, rotation[4] = 1, rotation[5] = 0;
+    if (rotation)
+        rotation[0] = 1, rotation[1] = 0, rotation[2] = 0, rotation[3] = 0, rotation[4] = 1, rotation[5] = 0,
         rotation[6] = 0, rotation[7] = 0, rotation[8] = 1;
-    }
     if (scale) *scale = 1.0f;
-    nk_f64_t centroid_a_x, centroid_a_y, centroid_a_z, centroid_b_x, centroid_b_y, centroid_b_z;
-    nk_f64_t identity[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-    nk_bicentroid_f32_v128relaxed_(a, b, n, &centroid_a_x, &centroid_a_y, &centroid_a_z, &centroid_b_x, &centroid_b_y,
-                                   &centroid_b_z);
+
+    // Fused single-pass: accumulate centroids and squared differences simultaneously.
+    // RMSD = √(E[(a−b)²] − (ā − b̄)²)
+    v128_t zero_f64x2 = wasm_f64x2_splat(0.0);
+    v128_t sum_a_x_low_f64x2 = zero_f64x2, sum_a_x_high_f64x2 = zero_f64x2;
+    v128_t sum_a_y_low_f64x2 = zero_f64x2, sum_a_y_high_f64x2 = zero_f64x2;
+    v128_t sum_a_z_low_f64x2 = zero_f64x2, sum_a_z_high_f64x2 = zero_f64x2;
+    v128_t sum_b_x_low_f64x2 = zero_f64x2, sum_b_x_high_f64x2 = zero_f64x2;
+    v128_t sum_b_y_low_f64x2 = zero_f64x2, sum_b_y_high_f64x2 = zero_f64x2;
+    v128_t sum_b_z_low_f64x2 = zero_f64x2, sum_b_z_high_f64x2 = zero_f64x2;
+    v128_t sum_sq_x_low_f64x2 = zero_f64x2, sum_sq_x_high_f64x2 = zero_f64x2;
+    v128_t sum_sq_y_low_f64x2 = zero_f64x2, sum_sq_y_high_f64x2 = zero_f64x2;
+    v128_t sum_sq_z_low_f64x2 = zero_f64x2, sum_sq_z_high_f64x2 = zero_f64x2;
+    nk_size_t index = 0;
+
+    for (; index + 4 <= n; index += 4) {
+        v128_t a_x_f32x4, a_y_f32x4, a_z_f32x4, b_x_f32x4, b_y_f32x4, b_z_f32x4;
+        nk_deinterleave_f32x4_v128relaxed_(a + index * 3, &a_x_f32x4, &a_y_f32x4, &a_z_f32x4);
+        nk_deinterleave_f32x4_v128relaxed_(b + index * 3, &b_x_f32x4, &b_y_f32x4, &b_z_f32x4);
+
+        // Promote lower and upper halves to f64. Deltas computed in f64 to avoid
+        // f32 cancellation in the single-pass formula RMSD = √(E[(a−b)²] − (ā − b̄)²).
+        v128_t a_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_x_f32x4);
+        v128_t a_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_x_f32x4, a_x_f32x4, 2, 3, 0, 1));
+        v128_t a_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_y_f32x4);
+        v128_t a_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_y_f32x4, a_y_f32x4, 2, 3, 0, 1));
+        v128_t a_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(a_z_f32x4);
+        v128_t a_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(a_z_f32x4, a_z_f32x4, 2, 3, 0, 1));
+        v128_t b_x_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_x_f32x4);
+        v128_t b_x_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_x_f32x4, b_x_f32x4, 2, 3, 0, 1));
+        v128_t b_y_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_y_f32x4);
+        v128_t b_y_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_y_f32x4, b_y_f32x4, 2, 3, 0, 1));
+        v128_t b_z_low_f64x2 = wasm_f64x2_promote_low_f32x4(b_z_f32x4);
+        v128_t b_z_high_f64x2 = wasm_f64x2_promote_low_f32x4(wasm_i32x4_shuffle(b_z_f32x4, b_z_f32x4, 2, 3, 0, 1));
+
+        // Accumulate centroids.
+        sum_a_x_low_f64x2 = wasm_f64x2_add(sum_a_x_low_f64x2, a_x_low_f64x2);
+        sum_a_x_high_f64x2 = wasm_f64x2_add(sum_a_x_high_f64x2, a_x_high_f64x2);
+        sum_a_y_low_f64x2 = wasm_f64x2_add(sum_a_y_low_f64x2, a_y_low_f64x2);
+        sum_a_y_high_f64x2 = wasm_f64x2_add(sum_a_y_high_f64x2, a_y_high_f64x2);
+        sum_a_z_low_f64x2 = wasm_f64x2_add(sum_a_z_low_f64x2, a_z_low_f64x2);
+        sum_a_z_high_f64x2 = wasm_f64x2_add(sum_a_z_high_f64x2, a_z_high_f64x2);
+        sum_b_x_low_f64x2 = wasm_f64x2_add(sum_b_x_low_f64x2, b_x_low_f64x2);
+        sum_b_x_high_f64x2 = wasm_f64x2_add(sum_b_x_high_f64x2, b_x_high_f64x2);
+        sum_b_y_low_f64x2 = wasm_f64x2_add(sum_b_y_low_f64x2, b_y_low_f64x2);
+        sum_b_y_high_f64x2 = wasm_f64x2_add(sum_b_y_high_f64x2, b_y_high_f64x2);
+        sum_b_z_low_f64x2 = wasm_f64x2_add(sum_b_z_low_f64x2, b_z_low_f64x2);
+        sum_b_z_high_f64x2 = wasm_f64x2_add(sum_b_z_high_f64x2, b_z_high_f64x2);
+
+        // Accumulate squared differences in f64 — deltas computed in f64 for precision.
+        v128_t dx_low_f64x2 = wasm_f64x2_sub(a_x_low_f64x2, b_x_low_f64x2);
+        v128_t dx_high_f64x2 = wasm_f64x2_sub(a_x_high_f64x2, b_x_high_f64x2);
+        v128_t dy_low_f64x2 = wasm_f64x2_sub(a_y_low_f64x2, b_y_low_f64x2);
+        v128_t dy_high_f64x2 = wasm_f64x2_sub(a_y_high_f64x2, b_y_high_f64x2);
+        v128_t dz_low_f64x2 = wasm_f64x2_sub(a_z_low_f64x2, b_z_low_f64x2);
+        v128_t dz_high_f64x2 = wasm_f64x2_sub(a_z_high_f64x2, b_z_high_f64x2);
+
+        sum_sq_x_low_f64x2 = wasm_f64x2_relaxed_madd(dx_low_f64x2, dx_low_f64x2, sum_sq_x_low_f64x2);
+        sum_sq_x_high_f64x2 = wasm_f64x2_relaxed_madd(dx_high_f64x2, dx_high_f64x2, sum_sq_x_high_f64x2);
+        sum_sq_y_low_f64x2 = wasm_f64x2_relaxed_madd(dy_low_f64x2, dy_low_f64x2, sum_sq_y_low_f64x2);
+        sum_sq_y_high_f64x2 = wasm_f64x2_relaxed_madd(dy_high_f64x2, dy_high_f64x2, sum_sq_y_high_f64x2);
+        sum_sq_z_low_f64x2 = wasm_f64x2_relaxed_madd(dz_low_f64x2, dz_low_f64x2, sum_sq_z_low_f64x2);
+        sum_sq_z_high_f64x2 = wasm_f64x2_relaxed_madd(dz_high_f64x2, dz_high_f64x2, sum_sq_z_high_f64x2);
+    }
+
+    nk_f64_t sum_a_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_x_low_f64x2, sum_a_x_high_f64x2));
+    nk_f64_t sum_a_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_y_low_f64x2, sum_a_y_high_f64x2));
+    nk_f64_t sum_a_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_a_z_low_f64x2, sum_a_z_high_f64x2));
+    nk_f64_t sum_b_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_x_low_f64x2, sum_b_x_high_f64x2));
+    nk_f64_t sum_b_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_y_low_f64x2, sum_b_y_high_f64x2));
+    nk_f64_t sum_b_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_b_z_low_f64x2, sum_b_z_high_f64x2));
+    nk_f64_t sum_sq_x = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_sq_x_low_f64x2, sum_sq_x_high_f64x2));
+    nk_f64_t sum_sq_y = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_sq_y_low_f64x2, sum_sq_y_high_f64x2));
+    nk_f64_t sum_sq_z = nk_hsum_f64x2_v128relaxed_(wasm_f64x2_add(sum_sq_z_low_f64x2, sum_sq_z_high_f64x2));
+
+    // Scalar tail.
+    for (; index < n; ++index) {
+        nk_f64_t ax = a[index * 3 + 0], ay = a[index * 3 + 1], az = a[index * 3 + 2];
+        nk_f64_t bx = b[index * 3 + 0], by = b[index * 3 + 1], bz = b[index * 3 + 2];
+        sum_a_x += ax, sum_a_y += ay, sum_a_z += az;
+        sum_b_x += bx, sum_b_y += by, sum_b_z += bz;
+        nk_f64_t dx = ax - bx, dy = ay - by, dz = az - bz;
+        sum_sq_x += dx * dx, sum_sq_y += dy * dy, sum_sq_z += dz * dz;
+    }
+
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    nk_f64_t centroid_a_x = sum_a_x * inv_points_count, centroid_a_y = sum_a_y * inv_points_count,
+             centroid_a_z = sum_a_z * inv_points_count;
+    nk_f64_t centroid_b_x = sum_b_x * inv_points_count, centroid_b_y = sum_b_y * inv_points_count,
+             centroid_b_z = sum_b_z * inv_points_count;
     if (a_centroid)
         a_centroid[0] = (nk_f32_t)centroid_a_x, a_centroid[1] = (nk_f32_t)centroid_a_y,
         a_centroid[2] = (nk_f32_t)centroid_a_z;
     if (b_centroid)
         b_centroid[0] = (nk_f32_t)centroid_b_x, b_centroid[1] = (nk_f32_t)centroid_b_y,
         b_centroid[2] = (nk_f32_t)centroid_b_z;
-    *result = nk_f64_sqrt_v128relaxed(nk_transformed_ssd_f32_v128relaxed_(a, b, n, identity, 1.0, centroid_a_x,
-                                                                          centroid_a_y, centroid_a_z, centroid_b_x,
-                                                                          centroid_b_y, centroid_b_z) /
-                                      (nk_f64_t)n);
+
+    nk_f64_t sum_squared = sum_sq_x + sum_sq_y + sum_sq_z;
+    nk_f64_t mean_diff_x = centroid_a_x - centroid_b_x;
+    nk_f64_t mean_diff_y = centroid_a_y - centroid_b_y;
+    nk_f64_t mean_diff_z = centroid_a_z - centroid_b_z;
+    nk_f64_t mean_diff_sq = mean_diff_x * mean_diff_x + mean_diff_y * mean_diff_y + mean_diff_z * mean_diff_z;
+    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_points_count - mean_diff_sq);
 }
 
 NK_PUBLIC void nk_rmsd_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, nk_size_t n, nk_f64_t *a_centroid,
                                        nk_f64_t *b_centroid, nk_f64_t *rotation, nk_f64_t *scale, nk_f64_t *result) {
     // RMSD uses identity rotation and scale=1.0
-    if (rotation) {
-        rotation[0] = 1, rotation[1] = 0, rotation[2] = 0;
-        rotation[3] = 0, rotation[4] = 1, rotation[5] = 0;
+    if (rotation)
+        rotation[0] = 1, rotation[1] = 0, rotation[2] = 0, rotation[3] = 0, rotation[4] = 1, rotation[5] = 0,
         rotation[6] = 0, rotation[7] = 0, rotation[8] = 1;
-    }
     if (scale) *scale = 1.0;
 
     v128_t const zeros_f64x2 = wasm_f64x2_splat(0);
@@ -634,9 +750,11 @@ NK_PUBLIC void nk_rmsd_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, nk_
         total_squared_z += total_squared_z_compensation;
 
     // Compute centroids
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    nk_f64_t centroid_a_x = total_ax * inv_n, centroid_a_y = total_ay * inv_n, centroid_a_z = total_az * inv_n;
-    nk_f64_t centroid_b_x = total_bx * inv_n, centroid_b_y = total_by * inv_n, centroid_b_z = total_bz * inv_n;
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    nk_f64_t centroid_a_x = total_ax * inv_points_count, centroid_a_y = total_ay * inv_points_count,
+             centroid_a_z = total_az * inv_points_count;
+    nk_f64_t centroid_b_x = total_bx * inv_points_count, centroid_b_y = total_by * inv_points_count,
+             centroid_b_z = total_bz * inv_points_count;
     if (a_centroid) a_centroid[0] = centroid_a_x, a_centroid[1] = centroid_a_y, a_centroid[2] = centroid_a_z;
     if (b_centroid) b_centroid[0] = centroid_b_x, b_centroid[1] = centroid_b_y, b_centroid[2] = centroid_b_z;
 
@@ -647,7 +765,7 @@ NK_PUBLIC void nk_rmsd_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, nk_
     nk_f64_t sum_squared = total_squared_x + total_squared_y + total_squared_z;
     nk_f64_t mean_diff_sq = mean_diff_x * mean_diff_x + mean_diff_y * mean_diff_y + mean_diff_z * mean_diff_z;
 
-    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_n - mean_diff_sq);
+    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_points_count - mean_diff_sq);
 }
 
 NK_PUBLIC void nk_kabsch_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b, nk_size_t n, nk_f32_t *a_centroid,
@@ -678,9 +796,7 @@ NK_PUBLIC void nk_kabsch_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b, n
 
     // Handle reflection: if det(R) < 0, negate third column of V and recompute R.
     if (nk_det3x3_f64_(r) < 0) {
-        svd_v[2] = -svd_v[2];
-        svd_v[5] = -svd_v[5];
-        svd_v[8] = -svd_v[8];
+        svd_v[2] = -svd_v[2], svd_v[5] = -svd_v[5], svd_v[8] = -svd_v[8];
         r[0] = svd_v[0] * svd_u[0] + svd_v[1] * svd_u[1] + svd_v[2] * svd_u[2];
         r[1] = svd_v[0] * svd_u[3] + svd_v[1] * svd_u[4] + svd_v[2] * svd_u[5];
         r[2] = svd_v[0] * svd_u[6] + svd_v[1] * svd_u[7] + svd_v[2] * svd_u[8];
@@ -692,9 +808,8 @@ NK_PUBLIC void nk_kabsch_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b, n
         r[8] = svd_v[6] * svd_u[6] + svd_v[7] * svd_u[7] + svd_v[8] * svd_u[8];
     }
 
-    if (rotation) {
+    if (rotation)
         for (int j = 0; j < 9; ++j) rotation[j] = (nk_f32_t)r[j];
-    }
     if (scale) *scale = 1.0f;
 
     *result = nk_f64_sqrt_v128relaxed(nk_transformed_ssd_f32_v128relaxed_(a, b, n, r, 1.0, centroid_a_x, centroid_a_y,
@@ -790,9 +905,11 @@ NK_PUBLIC void nk_kabsch_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, n
         covariance_z_z += covariance_z_z_compensation;
 
     // Compute centroids
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    nk_f64_t centroid_a_x = sum_a_x * inv_n, centroid_a_y = sum_a_y * inv_n, centroid_a_z = sum_a_z * inv_n;
-    nk_f64_t centroid_b_x = sum_b_x * inv_n, centroid_b_y = sum_b_y * inv_n, centroid_b_z = sum_b_z * inv_n;
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    nk_f64_t centroid_a_x = sum_a_x * inv_points_count, centroid_a_y = sum_a_y * inv_points_count,
+             centroid_a_z = sum_a_z * inv_points_count;
+    nk_f64_t centroid_b_x = sum_b_x * inv_points_count, centroid_b_y = sum_b_y * inv_points_count,
+             centroid_b_z = sum_b_z * inv_points_count;
     if (a_centroid) a_centroid[0] = centroid_a_x, a_centroid[1] = centroid_a_y, a_centroid[2] = centroid_a_z;
     if (b_centroid) b_centroid[0] = centroid_b_x, b_centroid[1] = centroid_b_y, b_centroid[2] = centroid_b_z;
 
@@ -818,9 +935,7 @@ NK_PUBLIC void nk_kabsch_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, n
 
     // Handle reflection: if det(R) < 0, negate third column of V and recompute R
     if (nk_det3x3_f64_(r) < 0) {
-        svd_v[2] = -svd_v[2];
-        svd_v[5] = -svd_v[5];
-        svd_v[8] = -svd_v[8];
+        svd_v[2] = -svd_v[2], svd_v[5] = -svd_v[5], svd_v[8] = -svd_v[8];
         nk_rotation_from_svd_f64_v128relaxed_(svd_u, svd_v, r);
     }
 
@@ -833,7 +948,7 @@ NK_PUBLIC void nk_kabsch_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b, n
     // Compute RMSD after optimal rotation
     nk_f64_t sum_squared = nk_transformed_ssd_f64_v128relaxed_(a, b, n, r, 1.0, centroid_a_x, centroid_a_y,
                                                                centroid_a_z, centroid_b_x, centroid_b_y, centroid_b_z);
-    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_n);
+    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_points_count);
 }
 
 NK_PUBLIC void nk_umeyama_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b, nk_size_t n, nk_f32_t *a_centroid,
@@ -866,9 +981,7 @@ NK_PUBLIC void nk_umeyama_f32_v128relaxed(nk_f32_t const *a, nk_f32_t const *b,
 
     nk_f64_t det = nk_det3x3_f64_(r);
     if (det < 0) {
-        svd_v[2] = -svd_v[2];
-        svd_v[5] = -svd_v[5];
-        svd_v[8] = -svd_v[8];
+        svd_v[2] = -svd_v[2], svd_v[5] = -svd_v[5], svd_v[8] = -svd_v[8];
         r[0] = svd_v[0] * svd_u[0] + svd_v[1] * svd_u[1] + svd_v[2] * svd_u[2];
         r[1] = svd_v[0] * svd_u[3] + svd_v[1] * svd_u[4] + svd_v[2] * svd_u[5];
         r[2] = svd_v[0] * svd_u[6] + svd_v[1] * svd_u[7] + svd_v[2] * svd_u[8];
@@ -988,15 +1101,17 @@ NK_PUBLIC void nk_umeyama_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b,
     sum_sq_a += sum_sq_a_compensation;
 
     // Compute centroids
-    nk_f64_t inv_n = 1.0 / (nk_f64_t)n;
-    nk_f64_t centroid_a_x = sum_a_x * inv_n, centroid_a_y = sum_a_y * inv_n, centroid_a_z = sum_a_z * inv_n;
-    nk_f64_t centroid_b_x = sum_b_x * inv_n, centroid_b_y = sum_b_y * inv_n, centroid_b_z = sum_b_z * inv_n;
+    nk_f64_t inv_points_count = 1.0 / (nk_f64_t)n;
+    nk_f64_t centroid_a_x = sum_a_x * inv_points_count, centroid_a_y = sum_a_y * inv_points_count,
+             centroid_a_z = sum_a_z * inv_points_count;
+    nk_f64_t centroid_b_x = sum_b_x * inv_points_count, centroid_b_y = sum_b_y * inv_points_count,
+             centroid_b_z = sum_b_z * inv_points_count;
     if (a_centroid) a_centroid[0] = centroid_a_x, a_centroid[1] = centroid_a_y, a_centroid[2] = centroid_a_z;
     if (b_centroid) b_centroid[0] = centroid_b_x, b_centroid[1] = centroid_b_y, b_centroid[2] = centroid_b_z;
 
     // Compute variance of A (centered)
     nk_f64_t centroid_sq = centroid_a_x * centroid_a_x + centroid_a_y * centroid_a_y + centroid_a_z * centroid_a_z;
-    nk_f64_t var_a = sum_sq_a * inv_n - centroid_sq;
+    nk_f64_t var_a = sum_sq_a * inv_points_count - centroid_sq;
 
     // Apply centering correction: H_centered = H - n * centroid_a * centroid_bT
     covariance_x_x -= n * centroid_a_x * centroid_b_x;
@@ -1024,9 +1139,7 @@ NK_PUBLIC void nk_umeyama_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b,
     nk_f64_t computed_scale = trace_d_s / (n * var_a);
 
     if (det < 0) {
-        svd_v[2] = -svd_v[2];
-        svd_v[5] = -svd_v[5];
-        svd_v[8] = -svd_v[8];
+        svd_v[2] = -svd_v[2], svd_v[5] = -svd_v[5], svd_v[8] = -svd_v[8];
         nk_rotation_from_svd_f64_v128relaxed_(svd_u, svd_v, r);
     }
 
@@ -1037,7 +1150,7 @@ NK_PUBLIC void nk_umeyama_f64_v128relaxed(nk_f64_t const *a, nk_f64_t const *b,
     // Compute RMSD after transformation
     nk_f64_t sum_squared = nk_transformed_ssd_f64_v128relaxed_(a, b, n, r, computed_scale, centroid_a_x, centroid_a_y,
                                                                centroid_a_z, centroid_b_x, centroid_b_y, centroid_b_z);
-    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_n);
+    *result = nk_f64_sqrt_v128relaxed(sum_squared * inv_points_count);
 }
 
 #if defined(__clang__)