diff --git a/src/external/rlsw.h b/src/external/rlsw.h
index a48ca70a1..3324f969c 100644
--- a/src/external/rlsw.h
+++ b/src/external/rlsw.h
@@ -844,6 +844,17 @@ SWAPI void swGetFramebufferAttachmentParameteriv(SWattachment attachment, SWatta
     #endif
 #endif
 
+// ESP-DSP acceleration: ESP-IDF ships an optimized math library that includes
+// `dspm_mult_4x4x4_f32` (4x4 matrix multiply) and `dspm_mult_4x4x1_f32`
+// (matrix * vector). These are S3-tuned hand-vectorized kernels that beat the
+// scalar versions for both throughput and code-size. Detection is opt-in to
+// keep the dependency optional: define SW_USE_ESP_DSP from your build system
+// (or rely on the `idf_component.yml` example shown in the rlsw docs).
+#if defined(ESP_PLATFORM) && defined(SW_USE_ESP_DSP)
+    #define SW_HAS_ESP_DSP
+    #include "dspm_mult.h"
+#endif
+
 #ifdef __cplusplus
     #define SW_CURLY_INIT(name) name
 #else
@@ -1038,6 +1049,9 @@ typedef struct {
     SWmatrix currentMatrixMode;                                 // Current matrix mode (e.g., sw_MODELVIEW, sw_PROJECTION)
     sw_matrix_t *currentMatrix;                                 // Pointer to the currently used matrix according to the mode
     sw_matrix_t matMVP;                                         // Model view projection matrix, calculated and used internally
+#ifdef SW_HAS_ESP_DSP
+    float matMVP_rm[16];                                        // Row-major MVP, kept in sync for esp-dsp dspm_mult_4x4x1_f32 vertex transform
+#endif
     bool isDirtyMVP;                                            // Indicates if the MVP matrix should be rebuilt
 
     sw_handle_t boundFramebufferId;                             // Framebuffer currently bound
@@ -1141,6 +1155,14 @@ static inline void sw_matrix_id(sw_matrix_t dst)
 
 static inline void sw_matrix_mul_rst(float *SW_RESTRICT dst, const float *SW_RESTRICT left, const float *SW_RESTRICT right)
 {
+#ifdef SW_HAS_ESP_DSP
+    // dspm_mult_4x4x4_f32 treats its operands as row-major. rlsw stores matrices
+    // column-major, so passing them flat is equivalent to passing transposes:
+    // dspm_mult(L^T, R^T) computes (L^T)*(R^T) = (R*L)^T, written back into a
+    // flat array gives the same bit pattern as the column-major product (R*L)
+    // -- exactly the semantic the scalar fallback below has.
+    dspm_mult_4x4x4_f32(left, right, dst);
+#else
     float l00 = left[0],  l01 = left[1],  l02 = left[2],  l03 = left[3];
     float l10 = left[4],  l11 = left[5],  l12 = left[6],  l13 = left[7];
     float l20 = left[8],  l21 = left[9],  l22 = left[10], l23 = left[11];
@@ -1165,6 +1187,7 @@ static inline void sw_matrix_mul_rst(float *SW_RESTRICT dst, const float *SW_RES
     dst[7]  = l10*right[3] + l11*right[7] + l12*right[11] + l13*right[15];
     dst[11] = l20*right[3] + l21*right[7] + l22*right[11] + l23*right[15];
     dst[15] = l30*right[3] + l31*right[7] + l32*right[11] + l33*right[15];
+#endif
 }
 
 static inline void sw_matrix_mul(sw_matrix_t dst, const sw_matrix_t left, const sw_matrix_t right)
@@ -3818,6 +3841,19 @@ static void sw_immediate_begin(SWdraw mode)
             RLSW.stackModelview[RLSW.stackModelviewCounter - 1],
             RLSW.stackProjection[RLSW.stackProjectionCounter - 1]);
 
+#ifdef SW_HAS_ESP_DSP
+        // Pre-transpose to row-major so dspm_mult_4x4x1_f32(matMVP_rm, v, out)
+        // computes M*v directly in the per-vertex hot path. 16 scalar copies
+        // per MVP update vs. saving ~20 cycles per vertex transform.
+        for (int i = 0; i < 4; i++)
+        {
+            for (int j = 0; j < 4; j++)
+            {
+                RLSW.matMVP_rm[4*i + j] = RLSW.matMVP[4*j + i];
+            }
+        }
+#endif
+
         RLSW.isDirtyMVP = false;
     }
 
@@ -3869,11 +3905,17 @@ static void sw_immediate_push_vertex(const float position[4])
     sw_vertex_t *vertex = &RLSW.primitive.buffer[RLSW.primitive.vertexCount++];
 
     // Calculate clip coordinates
+#ifdef SW_HAS_ESP_DSP
+    // dspm_mult_4x4x1_f32 declares its inputs non-const; rlsw treats them as
+    // read-only and the cast is safe (the kernel only loads from B).
+    dspm_mult_4x4x1_f32(RLSW.matMVP_rm, (float *)position, vertex->position);
+#else
     const float *m = RLSW.matMVP;
     vertex->position[0] = m[0]*position[0] + m[4]*position[1] + m[8]*position[2] + m[12]*position[3];
     vertex->position[1] = m[1]*position[0] + m[5]*position[1] + m[9]*position[2] + m[13]*position[3];
     vertex->position[2] = m[2]*position[0] + m[6]*position[1] + m[10]*position[2] + m[14]*position[3];
     vertex->position[3] = m[3]*position[0] + m[7]*position[1] + m[11]*position[2] + m[15]*position[3];
+#endif
 
     // Copy the attributes in the current vertex
     for (int i = 0; i < 4; i++) vertex->color[i] = RLSW.primitive.color[i];