H_VELX.c

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H_VEL[0] = q2*vd*-2.0f+q3*ve*2.0f+q0*vn*2.0f;
H_VEL[1] = q3*vd*2.0f+q2*ve*2.0f+q1*vn*2.0f;
H_VEL[2] = q0*vd*-2.0f+q1*ve*2.0f-q2*vn*2.0f;
H_VEL[3] = q1*vd*2.0f+q0*ve*2.0f-q3*vn*2.0f;
H_VEL[4] = q0*q0+q1*q1-q2*q2-q3*q3;
H_VEL[5] = q0*q3*2.0f+q1*q2*2.0f;
H_VEL[6] = q0*q2*-2.0f+q1*q3*2.0f;