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https://github.com/odin-lang/Odin.git
synced 2026-05-25 05:09:53 +00:00
More inlining of matrix4x4 operations
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gingerBill
@@ -493,54 +493,75 @@ matrix3x3_determinant :: proc "contextless" (m: $M/matrix[3, 3]$T) -> (det: T) #
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}
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@(require_results)
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matrix4x4_determinant :: proc "contextless" (m: $M/matrix[4, 4]$T) -> (det: T) #no_bounds_check {
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c := cofactor(m)
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for i in 0..<4 {
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det += m[0, i] * c[0, i]
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}
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s0 := m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]
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s1 := m[0, 0] * m[1, 2] - m[1, 0] * m[0, 2]
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s2 := m[0, 0] * m[1, 3] - m[1, 0] * m[0, 3]
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s3 := m[0, 1] * m[1, 2] - m[1, 1] * m[0, 2]
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s4 := m[0, 1] * m[1, 3] - m[1, 1] * m[0, 3]
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s5 := m[0, 2] * m[1, 3] - m[1, 2] * m[0, 3]
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c5 := m[2, 2] * m[3, 3] - m[3, 2] * m[2, 3]
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c4 := m[2, 1] * m[3, 3] - m[3, 1] * m[2, 3]
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c3 := m[2, 1] * m[3, 2] - m[3, 1] * m[2, 2]
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c2 := m[2, 0] * m[3, 3] - m[3, 0] * m[2, 3]
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c1 := m[2, 0] * m[3, 2] - m[3, 0] * m[2, 2]
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c0 := m[2, 0] * m[3, 1] - m[3, 0] * m[2, 1]
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det = s0 * c5 - s1 * c4 + s2 * c3 + s3 * c2 - s4 * c1 + s5 * c0
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return
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}
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@(require_results)
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matrix_determinant_generic :: proc "contextless" (a: $M/matrix[$N, N]$T) -> T #no_bounds_check {
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a := a
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det: T = 1
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when N == 1 {
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return matrix1x1_determinant(a)
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} else when N == 2 {
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return matrix2x2_determinant(a)
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} else when N == 3 {
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return matrix3x3_determinant(a)
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} else when N == 4 {
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return matrix4x4_determinant(a)
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} else {
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a := a
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det: T = 1
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for col in 0..<N {
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pivot_row := col
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pivot_val := abs(a[col, col])
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for row in (col + 1)..<N {
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val := abs(a[row, col])
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if val > pivot_val {
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pivot_val = val
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pivot_row = row
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for col in 0..<N {
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pivot_row := col
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pivot_val := abs(a[col, col])
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for row in (col + 1)..<N {
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val := abs(a[row, col])
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if val > pivot_val {
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pivot_val = val
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pivot_row = row
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}
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}
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if pivot_val == 0 {
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return 0
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}
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if pivot_row != col {
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for k in 0..<N {
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t := a[col, k]
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a[col, k] = a[pivot_row, k]
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a[pivot_row, k] = t
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}
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det = -det
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}
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det *= a[col, col]
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inv_pivot := 1.0 / a[col, col]
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for row in (col + 1)..<N {
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factor := a[row, col] * inv_pivot
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for k in (col + 1)..<N {
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a[row, k] -= factor * a[col, k]
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}
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}
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}
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if pivot_val == 0 {
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return 0
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}
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if pivot_row != col {
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for k in 0..<N {
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t := a[col, k]
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a[col, k] = a[pivot_row, k]
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a[pivot_row, k] = t
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}
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det = -det
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}
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det *= a[col, col]
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inv_pivot := 1.0 / a[col, col]
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for row in (col + 1)..<N {
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factor := a[row, col] * inv_pivot
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for k in (col + 1)..<N {
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a[row, k] -= factor * a[col, k]
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}
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}
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return det
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}
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return det
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}
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@(require_results)
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@@ -574,12 +595,40 @@ matrix3x3_adjugate :: proc "contextless" (m: $M/matrix[3, 3]$T) -> (y: M) #no_bo
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@(require_results)
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matrix4x4_adjugate :: proc "contextless" (x: $M/matrix[4, 4]$T) -> (y: M) #no_bounds_check {
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for i in 0..<4 {
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for j in 0..<4 {
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sign: T = 1 if (i + j) % 2 == 0 else -1
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y[i, j] = sign * matrix_minor(x, j, i)
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}
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}
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s0 := x[0, 0] * x[1, 1] - x[1, 0] * x[0, 1]
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s1 := x[0, 0] * x[1, 2] - x[1, 0] * x[0, 2]
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s2 := x[0, 0] * x[1, 3] - x[1, 0] * x[0, 3]
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s3 := x[0, 1] * x[1, 2] - x[1, 1] * x[0, 2]
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s4 := x[0, 1] * x[1, 3] - x[1, 1] * x[0, 3]
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s5 := x[0, 2] * x[1, 3] - x[1, 2] * x[0, 3]
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c5 := x[2, 2] * x[3, 3] - x[3, 2] * x[2, 3]
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c4 := x[2, 1] * x[3, 3] - x[3, 1] * x[2, 3]
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c3 := x[2, 1] * x[3, 2] - x[3, 1] * x[2, 2]
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c2 := x[2, 0] * x[3, 3] - x[3, 0] * x[2, 3]
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c1 := x[2, 0] * x[3, 2] - x[3, 0] * x[2, 2]
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c0 := x[2, 0] * x[3, 1] - x[3, 0] * x[2, 1]
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y[0, 0] = x[1, 1] * c5 - x[1, 2] * c4 + x[1, 3] * c3
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y[0, 1] = -x[0, 1] * c5 + x[0, 2] * c4 - x[0, 3] * c3
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y[0, 2] = x[3, 1] * s5 - x[3, 2] * s4 + x[3, 3] * s3
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y[0, 3] = -x[2, 1] * s5 + x[2, 2] * s4 - x[2, 3] * s3
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y[1, 0] = -x[1, 0] * c5 + x[1, 2] * c2 - x[1, 3] * c1
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y[1, 1] = x[0, 0] * c5 - x[0, 2] * c2 + x[0, 3] * c1
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y[1, 2] = -x[3, 0] * s5 + x[3, 2] * s2 - x[3, 3] * s1
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y[1, 3] = x[2, 0] * s5 - x[2, 2] * s2 + x[2, 3] * s1
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y[2, 0] = x[1, 0] * c4 - x[1, 1] * c2 + x[1, 3] * c0
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y[2, 1] = -x[0, 0] * c4 + x[0, 1] * c2 - x[0, 3] * c0
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y[2, 2] = x[3, 0] * s4 - x[3, 1] * s2 + x[3, 3] * s0
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y[2, 3] = -x[2, 0] * s4 + x[2, 1] * s2 - x[2, 3] * s0
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y[3, 0] = -x[1, 0] * c3 + x[1, 1] * c1 - x[1, 2] * c0
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y[3, 1] = x[0, 0] * c3 - x[0, 1] * c1 + x[0, 2] * c0
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y[3, 2] = -x[3, 0] * s3 + x[3, 1] * s1 - x[3, 2] * s0
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y[3, 3] = x[2, 0] * s3 - x[2, 1] * s1 + x[2, 2] * s0
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return
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}
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@@ -616,12 +665,41 @@ matrix3x3_cofactor :: proc "contextless" (m: $M/matrix[3, 3]$T) -> (y: M) #no_bo
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@(require_results)
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matrix4x4_cofactor :: proc "contextless" (x: $M/matrix[4, 4]$T) -> (y: M) #no_bounds_check {
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for i in 0..<4 {
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for j in 0..<4 {
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sign: T = 1 if (i + j) % 2 == 0 else -1
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y[i, j] = sign * matrix_minor(x, i, j)
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}
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}
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s0 := x[0, 0] * x[1, 1] - x[1, 0] * x[0, 1]
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s1 := x[0, 0] * x[1, 2] - x[1, 0] * x[0, 2]
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s2 := x[0, 0] * x[1, 3] - x[1, 0] * x[0, 3]
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s3 := x[0, 1] * x[1, 2] - x[1, 1] * x[0, 2]
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s4 := x[0, 1] * x[1, 3] - x[1, 1] * x[0, 3]
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s5 := x[0, 2] * x[1, 3] - x[1, 2] * x[0, 3]
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c5 := x[2, 2] * x[3, 3] - x[3, 2] * x[2, 3]
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c4 := x[2, 1] * x[3, 3] - x[3, 1] * x[2, 3]
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c3 := x[2, 1] * x[3, 2] - x[3, 1] * x[2, 2]
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c2 := x[2, 0] * x[3, 3] - x[3, 0] * x[2, 3]
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c1 := x[2, 0] * x[3, 2] - x[3, 0] * x[2, 2]
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c0 := x[2, 0] * x[3, 1] - x[3, 0] * x[2, 1]
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// Cofactor = transpose of adjugate
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y[0, 0] = x[1, 1] * c5 - x[1, 2] * c4 + x[1, 3] * c3
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y[1, 0] = -x[0, 1] * c5 + x[0, 2] * c4 - x[0, 3] * c3
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y[2, 0] = x[3, 1] * s5 - x[3, 2] * s4 + x[3, 3] * s3
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y[3, 0] = -x[2, 1] * s5 + x[2, 2] * s4 - x[2, 3] * s3
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y[0, 1] = -x[1, 0] * c5 + x[1, 2] * c2 - x[1, 3] * c1
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y[1, 1] = x[0, 0] * c5 - x[0, 2] * c2 + x[0, 3] * c1
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y[2, 1] = -x[3, 0] * s5 + x[3, 2] * s2 - x[3, 3] * s1
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y[3, 1] = x[2, 0] * s5 - x[2, 2] * s2 + x[2, 3] * s1
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y[0, 2] = x[1, 0] * c4 - x[1, 1] * c2 + x[1, 3] * c0
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y[1, 2] = -x[0, 0] * c4 + x[0, 1] * c2 - x[0, 3] * c0
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y[2, 2] = x[3, 0] * s4 - x[3, 1] * s2 + x[3, 3] * s0
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y[3, 2] = -x[2, 0] * s4 + x[2, 1] * s2 - x[2, 3] * s0
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y[0, 3] = -x[1, 0] * c3 + x[1, 1] * c1 - x[1, 2] * c0
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y[1, 3] = x[0, 0] * c3 - x[0, 1] * c1 + x[0, 2] * c0
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y[2, 3] = -x[3, 0] * s3 + x[3, 1] * s1 - x[3, 2] * s0
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y[3, 3] = x[2, 0] * s3 - x[2, 1] * s1 + x[2, 2] * s0
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return
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}
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