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16 lines
325 B
16 lines
325 B
t2 = q0*q0; |
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t3 = q1*q1; |
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t4 = q2*q2; |
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t5 = q3*q3; |
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t6 = t2+t3-t4-t5; |
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t7 = q0*q3*2.0; |
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t8 = q1*q2*2.0; |
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t9 = t7+t8; |
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t10 = 1.0/(t6*t6); |
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t11 = t9*t9; |
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t12 = t10*t11; |
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t13 = t12+1.0; |
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t14 = 1.0/t13; |
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t15 = 1.0/t6; |
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A0[0][1] = t14*(t15*(q0*q1*2.0-q2*q3*2.0)+t9*t10*(q0*q2*2.0+q1*q3*2.0)); |
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A0[0][2] = t14*(t15*(t2-t3+t4-t5)+t9*t10*(t7-t8));
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