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17 lines
369 B
17 lines
369 B
float t2 = q1*q2*2.0; |
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float t3 = q0*q0; |
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float t4 = q1*q1; |
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float t5 = q2*q2; |
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float t6 = q3*q3; |
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float t7 = q0*q2*2.0; |
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float t8 = q1*q3*2.0; |
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float t9 = q2*q3*2.0; |
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A0[0][0] = t3+t4-t5-t6; |
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A0[0][1] = t2-q0*q3*2.0; |
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A0[0][2] = t7+t8; |
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A0[1][0] = t2+q0*q3*2.0; |
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A0[1][1] = t3-t4+t5-t6; |
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A0[1][2] = t9-q0*q1*2.0; |
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A0[2][0] = -t7+t8; |
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A0[2][1] = t9+q0*q1*2.0; |
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A0[2][2] = t3-t4-t5+t6;
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