// axis 0
const float HK0 = q3*ve;
const float HK1 = q2*vd;
const float HK2 = q2*ve + q3*vd;
const float HK3 = q1*ve;
const float HK4 = q0*vd;
const float HK5 = 2*vn;
const float HK6 = HK5*q2;
const float HK7 = -HK5*q3 + q0*ve + q1*vd;
const float HK8 = 2*powf(q2, 2);
const float HK9 = 2*powf(q3, 2);
const float HK10 = q0*q3 + q1*q2;
const float HK11 = q1*q3;
const float HK12 = q0*q2;
const float HK13 = 2*HK2;
const float HK14 = 2*HK10;
const float HK15 = -2*HK0 + 2*HK1;
const float HK16 = -2*HK11 + 2*HK12;
const float HK17 = 2*HK7;
const float HK18 = HK8 + HK9 - 1;
const float HK19 = -2*HK3 + 2*HK4 + 2*HK6;
const float HK20 = -HK13*P(0,1) - HK14*P(0,5) + HK15*P(0,0) + HK16*P(0,6) - HK17*P(0,3) + HK18*P(0,4) + HK19*P(0,2);
const float HK21 = -HK13*P(1,5) - HK14*P(5,5) + HK15*P(0,5) + HK16*P(5,6) - HK17*P(3,5) + HK18*P(4,5) + HK19*P(2,5);
const float HK22 = -HK13*P(1,1) - HK14*P(1,5) + HK15*P(0,1) + HK16*P(1,6) - HK17*P(1,3) + HK18*P(1,4) + HK19*P(1,2);
const float HK23 = -HK13*P(1,6) - HK14*P(5,6) + HK15*P(0,6) + HK16*P(6,6) - HK17*P(3,6) + HK18*P(4,6) + HK19*P(2,6);
const float HK24 = -HK13*P(1,4) - HK14*P(4,5) + HK15*P(0,4) + HK16*P(4,6) - HK17*P(3,4) + HK18*P(4,4) + HK19*P(2,4);
const float HK25 = -HK13*P(1,3) - HK14*P(3,5) + HK15*P(0,3) + HK16*P(3,6) - HK17*P(3,3) + HK18*P(3,4) + HK19*P(2,3);
const float HK26 = -HK13*P(1,2) - HK14*P(2,5) + HK15*P(0,2) + HK16*P(2,6) - HK17*P(2,3) + HK18*P(2,4) + HK19*P(2,2);
const float HK27 = 1.0F/(-HK13*HK22 - HK14*HK21 + HK15*HK20 + HK16*HK23 - HK17*HK25 + HK18*HK24 + HK19*HK26 + R_VEL);


H_VEL(0) = 2*HK0 - 2*HK1;
H_VEL(1) = 2*HK2;
H_VEL(2) = 2*HK3 - 2*HK4 - 2*HK6;
H_VEL(3) = 2*HK7;
H_VEL(4) = -HK8 - HK9 + 1;
H_VEL(5) = 2*HK10;
H_VEL(6) = 2*HK11 - 2*HK12;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
H_VEL(10) = 0;
H_VEL(11) = 0;
H_VEL(12) = 0;
H_VEL(13) = 0;
H_VEL(14) = 0;
H_VEL(15) = 0;
H_VEL(16) = 0;
H_VEL(17) = 0;
H_VEL(18) = 0;
H_VEL(19) = 0;
H_VEL(20) = 0;
H_VEL(21) = 0;
H_VEL(22) = 0;
H_VEL(23) = 0;


Kfusion(0) = -HK20*HK27;
Kfusion(1) = -HK22*HK27;
Kfusion(2) = -HK26*HK27;
Kfusion(3) = -HK25*HK27;
Kfusion(4) = -HK24*HK27;
Kfusion(5) = -HK21*HK27;
Kfusion(6) = -HK23*HK27;
Kfusion(7) = -HK27*(-HK13*P(1,7) - HK14*P(5,7) + HK15*P(0,7) + HK16*P(6,7) - HK17*P(3,7) + HK18*P(4,7) + HK19*P(2,7));
Kfusion(8) = -HK27*(-HK13*P(1,8) - HK14*P(5,8) + HK15*P(0,8) + HK16*P(6,8) - HK17*P(3,8) + HK18*P(4,8) + HK19*P(2,8));
Kfusion(9) = -HK27*(-HK13*P(1,9) - HK14*P(5,9) + HK15*P(0,9) + HK16*P(6,9) - HK17*P(3,9) + HK18*P(4,9) + HK19*P(2,9));
Kfusion(10) = -HK27*(-HK13*P(1,10) - HK14*P(5,10) + HK15*P(0,10) + HK16*P(6,10) - HK17*P(3,10) + HK18*P(4,10) + HK19*P(2,10));
Kfusion(11) = -HK27*(-HK13*P(1,11) - HK14*P(5,11) + HK15*P(0,11) + HK16*P(6,11) - HK17*P(3,11) + HK18*P(4,11) + HK19*P(2,11));
Kfusion(12) = -HK27*(-HK13*P(1,12) - HK14*P(5,12) + HK15*P(0,12) + HK16*P(6,12) - HK17*P(3,12) + HK18*P(4,12) + HK19*P(2,12));
Kfusion(13) = -HK27*(-HK13*P(1,13) - HK14*P(5,13) + HK15*P(0,13) + HK16*P(6,13) - HK17*P(3,13) + HK18*P(4,13) + HK19*P(2,13));
Kfusion(14) = -HK27*(-HK13*P(1,14) - HK14*P(5,14) + HK15*P(0,14) + HK16*P(6,14) - HK17*P(3,14) + HK18*P(4,14) + HK19*P(2,14));
Kfusion(15) = -HK27*(-HK13*P(1,15) - HK14*P(5,15) + HK15*P(0,15) + HK16*P(6,15) - HK17*P(3,15) + HK18*P(4,15) + HK19*P(2,15));
Kfusion(16) = -HK27*(-HK13*P(1,16) - HK14*P(5,16) + HK15*P(0,16) + HK16*P(6,16) - HK17*P(3,16) + HK18*P(4,16) + HK19*P(2,16));
Kfusion(17) = -HK27*(-HK13*P(1,17) - HK14*P(5,17) + HK15*P(0,17) + HK16*P(6,17) - HK17*P(3,17) + HK18*P(4,17) + HK19*P(2,17));
Kfusion(18) = -HK27*(-HK13*P(1,18) - HK14*P(5,18) + HK15*P(0,18) + HK16*P(6,18) - HK17*P(3,18) + HK18*P(4,18) + HK19*P(2,18));
Kfusion(19) = -HK27*(-HK13*P(1,19) - HK14*P(5,19) + HK15*P(0,19) + HK16*P(6,19) - HK17*P(3,19) + HK18*P(4,19) + HK19*P(2,19));
Kfusion(20) = -HK27*(-HK13*P(1,20) - HK14*P(5,20) + HK15*P(0,20) + HK16*P(6,20) - HK17*P(3,20) + HK18*P(4,20) + HK19*P(2,20));
Kfusion(21) = -HK27*(-HK13*P(1,21) - HK14*P(5,21) + HK15*P(0,21) + HK16*P(6,21) - HK17*P(3,21) + HK18*P(4,21) + HK19*P(2,21));
Kfusion(22) = -HK27*(-HK13*P(1,22) - HK14*P(5,22) + HK15*P(0,22) + HK16*P(6,22) - HK17*P(3,22) + HK18*P(4,22) + HK19*P(2,22));
Kfusion(23) = -HK27*(-HK13*P(1,23) - HK14*P(5,23) + HK15*P(0,23) + HK16*P(6,23) - HK17*P(3,23) + HK18*P(4,23) + HK19*P(2,23));


// axis 1
const float HK0 = q1*vd - q3*vn;
const float HK1 = 2*ve;
const float HK2 = -HK1*q1 + q0*vd + q2*vn;
const float HK3 = q1*vn + q3*vd;
const float HK4 = q2*vd;
const float HK5 = q0*vn;
const float HK6 = HK1*q3;
const float HK7 = q1*q2;
const float HK8 = q0*q3;
const float HK9 = 2*powf(q1, 2);
const float HK10 = 2*powf(q3, 2);
const float HK11 = q0*q1 + q2*q3;
const float HK12 = 2*HK3;
const float HK13 = 2*HK11;
const float HK14 = 2*HK0;
const float HK15 = -2*HK7 + 2*HK8;
const float HK16 = 2*HK2;
const float HK17 = -2*HK4 + 2*HK5 + 2*HK6;
const float HK18 = HK10 + HK9 - 1;
const float HK19 = HK12*P(0,2) + HK13*P(0,6) + HK14*P(0,0) - HK15*P(0,4) + HK16*P(0,1) - HK17*P(0,3) - HK18*P(0,5);
const float HK20 = HK12*P(2,6) + HK13*P(6,6) + HK14*P(0,6) - HK15*P(4,6) + HK16*P(1,6) - HK17*P(3,6) - HK18*P(5,6);
const float HK21 = HK12*P(2,2) + HK13*P(2,6) + HK14*P(0,2) - HK15*P(2,4) + HK16*P(1,2) - HK17*P(2,3) - HK18*P(2,5);
const float HK22 = HK12*P(2,4) + HK13*P(4,6) + HK14*P(0,4) - HK15*P(4,4) + HK16*P(1,4) - HK17*P(3,4) - HK18*P(4,5);
const float HK23 = HK12*P(1,2) + HK13*P(1,6) + HK14*P(0,1) - HK15*P(1,4) + HK16*P(1,1) - HK17*P(1,3) - HK18*P(1,5);
const float HK24 = HK12*P(2,5) + HK13*P(5,6) + HK14*P(0,5) - HK15*P(4,5) + HK16*P(1,5) - HK17*P(3,5) - HK18*P(5,5);
const float HK25 = HK12*P(2,3) + HK13*P(3,6) + HK14*P(0,3) - HK15*P(3,4) + HK16*P(1,3) - HK17*P(3,3) - HK18*P(3,5);
const float HK26 = 1.0F/(HK12*HK21 + HK13*HK20 + HK14*HK19 - HK15*HK22 + HK16*HK23 - HK17*HK25 - HK18*HK24 + R_VEL);


H_VEL(0) = 2*HK0;
H_VEL(1) = 2*HK2;
H_VEL(2) = 2*HK3;
H_VEL(3) = 2*HK4 - 2*HK5 - 2*HK6;
H_VEL(4) = 2*HK7 - 2*HK8;
H_VEL(5) = -HK10 - HK9 + 1;
H_VEL(6) = 2*HK11;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
H_VEL(10) = 0;
H_VEL(11) = 0;
H_VEL(12) = 0;
H_VEL(13) = 0;
H_VEL(14) = 0;
H_VEL(15) = 0;
H_VEL(16) = 0;
H_VEL(17) = 0;
H_VEL(18) = 0;
H_VEL(19) = 0;
H_VEL(20) = 0;
H_VEL(21) = 0;
H_VEL(22) = 0;
H_VEL(23) = 0;


Kfusion(0) = HK19*HK26;
Kfusion(1) = HK23*HK26;
Kfusion(2) = HK21*HK26;
Kfusion(3) = HK25*HK26;
Kfusion(4) = HK22*HK26;
Kfusion(5) = HK24*HK26;
Kfusion(6) = HK20*HK26;
Kfusion(7) = HK26*(HK12*P(2,7) + HK13*P(6,7) + HK14*P(0,7) - HK15*P(4,7) + HK16*P(1,7) - HK17*P(3,7) - HK18*P(5,7));
Kfusion(8) = HK26*(HK12*P(2,8) + HK13*P(6,8) + HK14*P(0,8) - HK15*P(4,8) + HK16*P(1,8) - HK17*P(3,8) - HK18*P(5,8));
Kfusion(9) = HK26*(HK12*P(2,9) + HK13*P(6,9) + HK14*P(0,9) - HK15*P(4,9) + HK16*P(1,9) - HK17*P(3,9) - HK18*P(5,9));
Kfusion(10) = HK26*(HK12*P(2,10) + HK13*P(6,10) + HK14*P(0,10) - HK15*P(4,10) + HK16*P(1,10) - HK17*P(3,10) - HK18*P(5,10));
Kfusion(11) = HK26*(HK12*P(2,11) + HK13*P(6,11) + HK14*P(0,11) - HK15*P(4,11) + HK16*P(1,11) - HK17*P(3,11) - HK18*P(5,11));
Kfusion(12) = HK26*(HK12*P(2,12) + HK13*P(6,12) + HK14*P(0,12) - HK15*P(4,12) + HK16*P(1,12) - HK17*P(3,12) - HK18*P(5,12));
Kfusion(13) = HK26*(HK12*P(2,13) + HK13*P(6,13) + HK14*P(0,13) - HK15*P(4,13) + HK16*P(1,13) - HK17*P(3,13) - HK18*P(5,13));
Kfusion(14) = HK26*(HK12*P(2,14) + HK13*P(6,14) + HK14*P(0,14) - HK15*P(4,14) + HK16*P(1,14) - HK17*P(3,14) - HK18*P(5,14));
Kfusion(15) = HK26*(HK12*P(2,15) + HK13*P(6,15) + HK14*P(0,15) - HK15*P(4,15) + HK16*P(1,15) - HK17*P(3,15) - HK18*P(5,15));
Kfusion(16) = HK26*(HK12*P(2,16) + HK13*P(6,16) + HK14*P(0,16) - HK15*P(4,16) + HK16*P(1,16) - HK17*P(3,16) - HK18*P(5,16));
Kfusion(17) = HK26*(HK12*P(2,17) + HK13*P(6,17) + HK14*P(0,17) - HK15*P(4,17) + HK16*P(1,17) - HK17*P(3,17) - HK18*P(5,17));
Kfusion(18) = HK26*(HK12*P(2,18) + HK13*P(6,18) + HK14*P(0,18) - HK15*P(4,18) + HK16*P(1,18) - HK17*P(3,18) - HK18*P(5,18));
Kfusion(19) = HK26*(HK12*P(2,19) + HK13*P(6,19) + HK14*P(0,19) - HK15*P(4,19) + HK16*P(1,19) - HK17*P(3,19) - HK18*P(5,19));
Kfusion(20) = HK26*(HK12*P(2,20) + HK13*P(6,20) + HK14*P(0,20) - HK15*P(4,20) + HK16*P(1,20) - HK17*P(3,20) - HK18*P(5,20));
Kfusion(21) = HK26*(HK12*P(2,21) + HK13*P(6,21) + HK14*P(0,21) - HK15*P(4,21) + HK16*P(1,21) - HK17*P(3,21) - HK18*P(5,21));
Kfusion(22) = HK26*(HK12*P(2,22) + HK13*P(6,22) + HK14*P(0,22) - HK15*P(4,22) + HK16*P(1,22) - HK17*P(3,22) - HK18*P(5,22));
Kfusion(23) = HK26*(HK12*P(2,23) + HK13*P(6,23) + HK14*P(0,23) - HK15*P(4,23) + HK16*P(1,23) - HK17*P(3,23) - HK18*P(5,23));


// axis 2
const float HK0 = q2*vn;
const float HK1 = q1*ve;
const float HK2 = q3*vn;
const float HK3 = q0*ve;
const float HK4 = 2*vd;
const float HK5 = HK4*q1;
const float HK6 = -HK4*q2 + q0*vn + q3*ve;
const float HK7 = q1*vn + q2*ve;
const float HK8 = q0*q2 + q1*q3;
const float HK9 = q2*q3;
const float HK10 = q0*q1;
const float HK11 = 2*powf(q1, 2);
const float HK12 = 2*powf(q2, 2);
const float HK13 = 2*HK7;
const float HK14 = 2*HK8;
const float HK15 = -2*HK0 + 2*HK1;
const float HK16 = 2*HK10 - 2*HK9;
const float HK17 = 2*HK6;
const float HK18 = HK11 + HK12 - 1;
const float HK19 = -2*HK2 + 2*HK3 + 2*HK5;
const float HK20 = -HK13*P(0,3) - HK14*P(0,4) + HK15*P(0,0) + HK16*P(0,5) - HK17*P(0,2) + HK18*P(0,6) + HK19*P(0,1);
const float HK21 = -HK13*P(3,4) - HK14*P(4,4) + HK15*P(0,4) + HK16*P(4,5) - HK17*P(2,4) + HK18*P(4,6) + HK19*P(1,4);
const float HK22 = -HK13*P(3,3) - HK14*P(3,4) + HK15*P(0,3) + HK16*P(3,5) - HK17*P(2,3) + HK18*P(3,6) + HK19*P(1,3);
const float HK23 = -HK13*P(3,5) - HK14*P(4,5) + HK15*P(0,5) + HK16*P(5,5) - HK17*P(2,5) + HK18*P(5,6) + HK19*P(1,5);
const float HK24 = -HK13*P(3,6) - HK14*P(4,6) + HK15*P(0,6) + HK16*P(5,6) - HK17*P(2,6) + HK18*P(6,6) + HK19*P(1,6);
const float HK25 = -HK13*P(2,3) - HK14*P(2,4) + HK15*P(0,2) + HK16*P(2,5) - HK17*P(2,2) + HK18*P(2,6) + HK19*P(1,2);
const float HK26 = -HK13*P(1,3) - HK14*P(1,4) + HK15*P(0,1) + HK16*P(1,5) - HK17*P(1,2) + HK18*P(1,6) + HK19*P(1,1);
const float HK27 = 1.0F/(-HK13*HK22 - HK14*HK21 + HK15*HK20 + HK16*HK23 - HK17*HK25 + HK18*HK24 + HK19*HK26 + R_VEL);


H_VEL(0) = 2*HK0 - 2*HK1;
H_VEL(1) = 2*HK2 - 2*HK3 - 2*HK5;
H_VEL(2) = 2*HK6;
H_VEL(3) = 2*HK7;
H_VEL(4) = 2*HK8;
H_VEL(5) = -2*HK10 + 2*HK9;
H_VEL(6) = -HK11 - HK12 + 1;
H_VEL(7) = 0;
H_VEL(8) = 0;
H_VEL(9) = 0;
H_VEL(10) = 0;
H_VEL(11) = 0;
H_VEL(12) = 0;
H_VEL(13) = 0;
H_VEL(14) = 0;
H_VEL(15) = 0;
H_VEL(16) = 0;
H_VEL(17) = 0;
H_VEL(18) = 0;
H_VEL(19) = 0;
H_VEL(20) = 0;
H_VEL(21) = 0;
H_VEL(22) = 0;
H_VEL(23) = 0;


Kfusion(0) = -HK20*HK27;
Kfusion(1) = -HK26*HK27;
Kfusion(2) = -HK25*HK27;
Kfusion(3) = -HK22*HK27;
Kfusion(4) = -HK21*HK27;
Kfusion(5) = -HK23*HK27;
Kfusion(6) = -HK24*HK27;
Kfusion(7) = -HK27*(-HK13*P(3,7) - HK14*P(4,7) + HK15*P(0,7) + HK16*P(5,7) - HK17*P(2,7) + HK18*P(6,7) + HK19*P(1,7));
Kfusion(8) = -HK27*(-HK13*P(3,8) - HK14*P(4,8) + HK15*P(0,8) + HK16*P(5,8) - HK17*P(2,8) + HK18*P(6,8) + HK19*P(1,8));
Kfusion(9) = -HK27*(-HK13*P(3,9) - HK14*P(4,9) + HK15*P(0,9) + HK16*P(5,9) - HK17*P(2,9) + HK18*P(6,9) + HK19*P(1,9));
Kfusion(10) = -HK27*(-HK13*P(3,10) - HK14*P(4,10) + HK15*P(0,10) + HK16*P(5,10) - HK17*P(2,10) + HK18*P(6,10) + HK19*P(1,10));
Kfusion(11) = -HK27*(-HK13*P(3,11) - HK14*P(4,11) + HK15*P(0,11) + HK16*P(5,11) - HK17*P(2,11) + HK18*P(6,11) + HK19*P(1,11));
Kfusion(12) = -HK27*(-HK13*P(3,12) - HK14*P(4,12) + HK15*P(0,12) + HK16*P(5,12) - HK17*P(2,12) + HK18*P(6,12) + HK19*P(1,12));
Kfusion(13) = -HK27*(-HK13*P(3,13) - HK14*P(4,13) + HK15*P(0,13) + HK16*P(5,13) - HK17*P(2,13) + HK18*P(6,13) + HK19*P(1,13));
Kfusion(14) = -HK27*(-HK13*P(3,14) - HK14*P(4,14) + HK15*P(0,14) + HK16*P(5,14) - HK17*P(2,14) + HK18*P(6,14) + HK19*P(1,14));
Kfusion(15) = -HK27*(-HK13*P(3,15) - HK14*P(4,15) + HK15*P(0,15) + HK16*P(5,15) - HK17*P(2,15) + HK18*P(6,15) + HK19*P(1,15));
Kfusion(16) = -HK27*(-HK13*P(3,16) - HK14*P(4,16) + HK15*P(0,16) + HK16*P(5,16) - HK17*P(2,16) + HK18*P(6,16) + HK19*P(1,16));
Kfusion(17) = -HK27*(-HK13*P(3,17) - HK14*P(4,17) + HK15*P(0,17) + HK16*P(5,17) - HK17*P(2,17) + HK18*P(6,17) + HK19*P(1,17));
Kfusion(18) = -HK27*(-HK13*P(3,18) - HK14*P(4,18) + HK15*P(0,18) + HK16*P(5,18) - HK17*P(2,18) + HK18*P(6,18) + HK19*P(1,18));
Kfusion(19) = -HK27*(-HK13*P(3,19) - HK14*P(4,19) + HK15*P(0,19) + HK16*P(5,19) - HK17*P(2,19) + HK18*P(6,19) + HK19*P(1,19));
Kfusion(20) = -HK27*(-HK13*P(3,20) - HK14*P(4,20) + HK15*P(0,20) + HK16*P(5,20) - HK17*P(2,20) + HK18*P(6,20) + HK19*P(1,20));
Kfusion(21) = -HK27*(-HK13*P(3,21) - HK14*P(4,21) + HK15*P(0,21) + HK16*P(5,21) - HK17*P(2,21) + HK18*P(6,21) + HK19*P(1,21));
Kfusion(22) = -HK27*(-HK13*P(3,22) - HK14*P(4,22) + HK15*P(0,22) + HK16*P(5,22) - HK17*P(2,22) + HK18*P(6,22) + HK19*P(1,22));
Kfusion(23) = -HK27*(-HK13*P(3,23) - HK14*P(4,23) + HK15*P(0,23) + HK16*P(5,23) - HK17*P(2,23) + HK18*P(6,23) + HK19*P(1,23));