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