t9 = q0*q3;
t10 = q1*q2;
t2 = t9-t10;
t3 = q0*q0;
t4 = q1*q1;
t5 = q2*q2;
t6 = q3*q3;
t7 = t3-t4+t5-t6;
t8 = 1.0/(t7*t7);
t11 = t2*t2;
t12 = t8*t11*4.0;
t13 = t12+1.0;
t14 = 1.0/t13;
t15 = 1.0/(t2*t2);
t16 = q3*t3;
t17 = q3*t4;
t18 = t16+t17-q3*t5+q3*t6-q0*q1*q2*2.0;
t19 = t7*t7;
t20 = t15*t19*(1.0/4.0);
t21 = t20+1.0;
t22 = 1.0/t21;
t23 = q2*t3;
t24 = q2*t4;
t25 = t23+t24+q2*t5-q2*t6-q0*q1*q3*2.0;
t26 = q1*t5;
t27 = q1*t6;
t28 = t26+t27-q1*t3+q1*t4-q0*q2*q3*2.0;
t29 = q0*t5;
t30 = q0*t6;
t31 = t29+t30+q0*t3-q0*t4-q1*q2*q3*2.0;
A0[0][0] = t8*t14*t18*-2.0;
A0[0][1] = t8*t14*t25*-2.0;
A0[0][2] = t8*t14*t28*2.0;
A0[0][3] = t8*t14*t31*2.0;
A0[1][0] = t15*t18*t22*(-1.0/2.0);
A0[1][1] = t15*t22*t25*(-1.0/2.0);
A0[1][2] = t15*t22*t28*(1.0/2.0);
A0[1][3] = t15*t22*t31*(1.0/2.0);