Scalar const c0 = pow(q.x(), 2);
Scalar const c1 = pow(q.y(), 2);
Scalar const c2 = pow(q.z(), 2);
Scalar const c3 = c0 + c1 + c2;
Scalar const c4 = sqrt(c3);
Scalar const c5 = 1.0/q.w();
Scalar const c6 = 2*atan(c4*c5);
Scalar const c7 = c6/c4;
Scalar const c8 = c6/pow(c3, 3.0/2.0);
Scalar const c9 = 2*c5/(c3*(c3/pow(q.w(), 2) + 1));
Scalar const c10 = c8*q.x();
Scalar const c11 = c9*q.x();
Scalar const c12 = -c10*q.y() + c11*q.y();
Scalar const c13 = -c10*q.z() + c11*q.z();
Scalar const c14 = q.y()*q.z();
Scalar const c15 = -c14*c8 + c14*c9;
result[0] = -c0*c8 + c0*c9 + c7;
result[1] = c12;
result[2] = c13;
result[3] = c12;
result[4] = -c1*c8 + c1*c9 + c7;
result[5] = c15;
result[6] = c13;
result[7] = c15;
result[8] = -c2*c8 + c2*c9 + c7;
