2016-05-01 02:06:17 -03:00
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t9 = q0*q3;
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t10 = q1*q2;
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t2 = t9+t10;
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t3 = q0*q0;
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t4 = q1*q1;
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t5 = q2*q2;
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t6 = q3*q3;
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t7 = t3+t4-t5-t6;
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t8 = 1.0/(t7*t7);
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t11 = t2*t2;
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t12 = t8*t11*4.0;
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2016-04-04 14:51:28 -03:00
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t13 = t12+1.0;
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t14 = 1.0/t13;
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2016-05-01 02:06:17 -03:00
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A0[0][0] = t8*t14*(q3*t3-q3*t4+q3*t5+q3*t6+q0*q1*q2*2.0)*-2.0;
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A0[0][1] = t8*t14*(-q2*t3+q2*t4+q2*t5+q2*t6+q0*q1*q3*2.0)*-2.0;
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A0[0][2] = t8*t14*(q1*t3+q1*t4+q1*t5-q1*t6+q0*q2*q3*2.0)*2.0;
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A0[0][3] = t8*t14*(q0*t3+q0*t4-q0*t5+q0*t6+q1*q2*q3*2.0)*2.0;
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