30 lines
867 B
C++
30 lines
867 B
C++
Scalar const c0 = pow(omega[0], 2);
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Scalar const c1 = pow(omega[1], 2);
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Scalar const c2 = pow(omega[2], 2);
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Scalar const c3 = c0 + c1 + c2;
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Scalar const c4 = sqrt(c3);
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Scalar const c5 = 0.5*c4;
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Scalar const c6 = sin(c5);
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Scalar const c7 = c6/c4;
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Scalar const c8 = c6/pow(c3, 3.0/2.0);
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Scalar const c9 = 0.5*cos(c5)/c3;
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Scalar const c10 = c8*omega[0];
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Scalar const c11 = c9*omega[0];
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Scalar const c12 = -c10*omega[1] + c11*omega[1];
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Scalar const c13 = -c10*omega[2] + c11*omega[2];
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Scalar const c14 = omega[1]*omega[2];
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Scalar const c15 = -c14*c8 + c14*c9;
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Scalar const c16 = 0.5*c7;
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result[0] = -c0*c8 + c0*c9 + c7;
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result[1] = c12;
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result[2] = c13;
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result[3] = c12;
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result[4] = -c1*c8 + c1*c9 + c7;
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result[5] = c15;
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result[6] = c13;
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result[7] = c15;
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result[8] = -c2*c8 + c2*c9 + c7;
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result[9] = -c16*omega[0];
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result[10] = -c16*omega[1];
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result[11] = -c16*omega[2];
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