float t2 = q0*q3*2.0f;
float t3 = q1*q2*2.0f;
float t4 = t2+t3;
float t5 = q0*q0;
float t6 = q1*q1;
float t7 = q2*q2;
float t8 = q3*q3;
float t9 = t5+t6-t7-t8;
float t10 = q0*q2*2.0f;
float t25 = q1*q3*2.0f;
float t11 = t10-t25;
float t12 = q3*ve*2.0f;
float t13 = q0*vn*2.0f;
float t26 = q2*vd*2.0f;
float t14 = t12+t13-t26;
float t15 = q3*vd*2.0f;
float t16 = q2*ve*2.0f;
float t17 = q1*vn*2.0f;
float t18 = t15+t16+t17;
float t19 = q0*vd*2.0f;
float t20 = q2*vn*2.0f;
float t27 = q1*ve*2.0f;
float t21 = t19+t20-t27;
float t22 = q1*vd*2.0f;
float t23 = q0*ve*2.0f;
float t28 = q3*vn*2.0f;
float t24 = t22+t23-t28;
float t29 = P[0][0]*t14;
float t30 = P[1][1]*t18;
float t31 = P[4][5]*t9;
float t32 = P[5][5]*t4;
float t33 = P[0][5]*t14;
float t34 = P[1][5]*t18;
float t35 = P[3][5]*t24;
float t79 = P[6][5]*t11;
float t80 = P[2][5]*t21;
float t36 = t31+t32+t33+t34+t35-t79-t80;
float t37 = t4*t36;
float t38 = P[4][6]*t9;
float t39 = P[5][6]*t4;
float t40 = P[0][6]*t14;
float t41 = P[1][6]*t18;
float t42 = P[3][6]*t24;
float t81 = P[6][6]*t11;
float t82 = P[2][6]*t21;
float t43 = t38+t39+t40+t41+t42-t81-t82;
float t44 = P[4][0]*t9;
float t45 = P[5][0]*t4;
float t46 = P[1][0]*t18;
float t47 = P[3][0]*t24;
float t84 = P[6][0]*t11;
float t85 = P[2][0]*t21;
float t48 = t29+t44+t45+t46+t47-t84-t85;
float t49 = t14*t48;
float t50 = P[4][1]*t9;
float t51 = P[5][1]*t4;
float t52 = P[0][1]*t14;
float t53 = P[3][1]*t24;
float t86 = P[6][1]*t11;
float t87 = P[2][1]*t21;
float t54 = t30+t50+t51+t52+t53-t86-t87;
float t55 = t18*t54;
float t56 = P[4][2]*t9;
float t57 = P[5][2]*t4;
float t58 = P[0][2]*t14;
float t59 = P[1][2]*t18;
float t60 = P[3][2]*t24;
float t78 = P[2][2]*t21;
float t88 = P[6][2]*t11;
float t61 = t56+t57+t58+t59+t60-t78-t88;
float t62 = P[4][3]*t9;
float t63 = P[5][3]*t4;
float t64 = P[0][3]*t14;
float t65 = P[1][3]*t18;
float t66 = P[3][3]*t24;
float t90 = P[6][3]*t11;
float t91 = P[2][3]*t21;
float t67 = t62+t63+t64+t65+t66-t90-t91;
float t68 = t24*t67;
float t69 = P[4][4]*t9;
float t70 = P[5][4]*t4;
float t71 = P[0][4]*t14;
float t72 = P[1][4]*t18;
float t73 = P[3][4]*t24;
float t92 = P[6][4]*t11;
float t93 = P[2][4]*t21;
float t74 = t69+t70+t71+t72+t73-t92-t93;
float t75 = t9*t74;
float t83 = t11*t43;
float t89 = t21*t61;
float t76 = R_VEL+t37+t49+t55+t68+t75-t83-t89;
float t77 = 1.0f/t76;
Kfusion[0] = t77*(t29+P[0][5]*t4+P[0][4]*t9-P[0][6]*t11+P[0][1]*t18-P[0][2]*t21+P[0][3]*t24);
Kfusion[1] = t77*(t30+P[1][5]*t4+P[1][4]*t9+P[1][0]*t14-P[1][6]*t11-P[1][2]*t21+P[1][3]*t24);
Kfusion[2] = t77*(-t78+P[2][5]*t4+P[2][4]*t9+P[2][0]*t14-P[2][6]*t11+P[2][1]*t18+P[2][3]*t24);
Kfusion[3] = t77*(t66+P[3][5]*t4+P[3][4]*t9+P[3][0]*t14-P[3][6]*t11+P[3][1]*t18-P[3][2]*t21);
Kfusion[4] = t77*(t69+P[4][5]*t4+P[4][0]*t14-P[4][6]*t11+P[4][1]*t18-P[4][2]*t21+P[4][3]*t24);
Kfusion[5] = t77*(t32+P[5][4]*t9+P[5][0]*t14-P[5][6]*t11+P[5][1]*t18-P[5][2]*t21+P[5][3]*t24);
Kfusion[6] = t77*(-t81+P[6][5]*t4+P[6][4]*t9+P[6][0]*t14+P[6][1]*t18-P[6][2]*t21+P[6][3]*t24);
Kfusion[7] = t77*(P[7][5]*t4+P[7][4]*t9+P[7][0]*t14-P[7][6]*t11+P[7][1]*t18-P[7][2]*t21+P[7][3]*t24);
Kfusion[8] = t77*(P[8][5]*t4+P[8][4]*t9+P[8][0]*t14-P[8][6]*t11+P[8][1]*t18-P[8][2]*t21+P[8][3]*t24);
Kfusion[9] = t77*(P[9][5]*t4+P[9][4]*t9+P[9][0]*t14-P[9][6]*t11+P[9][1]*t18-P[9][2]*t21+P[9][3]*t24);
Kfusion[10] = t77*(P[10][5]*t4+P[10][4]*t9+P[10][0]*t14-P[10][6]*t11+P[10][1]*t18-P[10][2]*t21+P[10][3]*t24);
Kfusion[11] = t77*(P[11][5]*t4+P[11][4]*t9+P[11][0]*t14-P[11][6]*t11+P[11][1]*t18-P[11][2]*t21+P[11][3]*t24);
Kfusion[12] = t77*(P[12][5]*t4+P[12][4]*t9+P[12][0]*t14-P[12][6]*t11+P[12][1]*t18-P[12][2]*t21+P[12][3]*t24);
Kfusion[13] = t77*(P[13][5]*t4+P[13][4]*t9+P[13][0]*t14-P[13][6]*t11+P[13][1]*t18-P[13][2]*t21+P[13][3]*t24);
Kfusion[14] = t77*(P[14][5]*t4+P[14][4]*t9+P[14][0]*t14-P[14][6]*t11+P[14][1]*t18-P[14][2]*t21+P[14][3]*t24);
Kfusion[15] = t77*(P[15][5]*t4+P[15][4]*t9+P[15][0]*t14-P[15][6]*t11+P[15][1]*t18-P[15][2]*t21+P[15][3]*t24);
Kfusion[16] = t77*(P[16][5]*t4+P[16][4]*t9+P[16][0]*t14-P[16][6]*t11+P[16][1]*t18-P[16][2]*t21+P[16][3]*t24);
Kfusion[17] = t77*(P[17][5]*t4+P[17][4]*t9+P[17][0]*t14-P[17][6]*t11+P[17][1]*t18-P[17][2]*t21+P[17][3]*t24);
Kfusion[18] = t77*(P[18][5]*t4+P[18][4]*t9+P[18][0]*t14-P[18][6]*t11+P[18][1]*t18-P[18][2]*t21+P[18][3]*t24);
Kfusion[19] = t77*(P[19][5]*t4+P[19][4]*t9+P[19][0]*t14-P[19][6]*t11+P[19][1]*t18-P[19][2]*t21+P[19][3]*t24);
Kfusion[20] = t77*(P[20][5]*t4+P[20][4]*t9+P[20][0]*t14-P[20][6]*t11+P[20][1]*t18-P[20][2]*t21+P[20][3]*t24);
Kfusion[21] = t77*(P[21][5]*t4+P[21][4]*t9+P[21][0]*t14-P[21][6]*t11+P[21][1]*t18-P[21][2]*t21+P[21][3]*t24);
Kfusion[22] = t77*(P[22][5]*t4+P[22][4]*t9+P[22][0]*t14-P[22][6]*t11+P[22][1]*t18-P[22][2]*t21+P[22][3]*t24);
Kfusion[23] = t77*(P[23][5]*t4+P[23][4]*t9+P[23][0]*t14-P[23][6]*t11+P[23][1]*t18-P[23][2]*t21+P[23][3]*t24);