Scalar const c0 = sin(theta);
Scalar const c1 = cos(theta);
Scalar const c2 = 1.0/theta;
Scalar const c3 = c0*c2;
Scalar const c4 = 1 - c1;
Scalar const c5 = c2*c4;
Scalar const c6 = c1*c2;
Scalar const c7 = pow(theta, -2);
Scalar const c8 = c0*c7;
Scalar const c9 = c4*c7;
result[0] = 0;
result[1] = 0;
result[2] = -c0;
result[3] = 0;
result[4] = 0;
result[5] = c1;
result[6] = c3;
result[7] = -c5;
result[8] = -c3*upsilon[1] + c6*upsilon[0] - c8*upsilon[0] + c9*upsilon[1];
result[9] = c5;
result[10] = c3;
result[11] = c3*upsilon[0] + c6*upsilon[1] - c8*upsilon[1] - c9*upsilon[0];