SDK • Re: Raw SDK performance is worse than arduino-pico

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typedef struct rneaReturn{  int tau_0;  int tau_1;  int tau_2;  int tau_3;  int tau_4;  int tau_5;} rneaReturn;rneaReturn rnea(int32_t qcos_0, int32_t qcos_1, int32_t qcos_2, int32_t qcos_3, int32_t qcos_4, int32_t qcos_5, int32_t qsin_0, int32_t qsin_1, int32_t qsin_2, int32_t qsin_3, int32_t qsin_4, int32_t qsin_5, int32_t v_0, int32_t v_1, int32_t v_2, int32_t v_3, int32_t v_4, int32_t v_5, int32_t a_0, int32_t a_1, int32_t a_2, int32_t a_3, int32_t a_4, int32_t a_5) {  int32_t limi_translation_0_0 = 0;  int32_t limi_translation_0_1 = 0;  int32_t limi_translation_0_2 = 715112055;  int32_t limi_translation_1_0 = 0;  int32_t limi_translation_1_1 = 0;  int32_t limi_translation_1_2 = 0;  int32_t limi_translation_2_0 = 0;  int32_t limi_translation_2_1 = -678604833;  int32_t limi_translation_2_2 = 0;  int32_t limi_translation_3_0 = 177167401;  int32_t limi_translation_3_1 = 0;  int32_t limi_translation_3_2 = 0;  int32_t limi_translation_4_0 = -177167401;  int32_t limi_translation_4_1 = 824633721;  int32_t limi_translation_4_2 = 0;  int32_t limi_translation_5_0 = 0;  int32_t limi_translation_5_1 = 0;  int32_t limi_translation_5_2 = 0;  int32_t data_v_0_0 = 0;  int32_t data_v_0_1 = 0;  int32_t data_v_0_2 = 0;  int32_t data_v_0_3 = 0;  int32_t data_v_0_4 = 0;  int32_t data_v_0_5 = 0;  int32_t data_v_1_0 = 0;  int32_t data_v_1_1 = 0;  int32_t data_v_1_2 = 0;  int32_t data_v_1_3 = 0;  int32_t data_v_1_4 = 0;  int32_t data_v_1_5 = 0;  int32_t data_v_2_0 = 0;  int32_t data_v_2_1 = 0;  int32_t data_v_2_2 = 0;  int32_t data_v_2_3 = 0;  int32_t data_v_2_4 = 0;  int32_t data_v_2_5 = 0;  int32_t data_v_3_0 = 0;  int32_t data_v_3_1 = 0;  int32_t data_v_3_2 = 0;  int32_t data_v_3_3 = 0;  int32_t data_v_3_4 = 0;  int32_t data_v_3_5 = 0;  int32_t data_v_4_0 = 0;  int32_t data_v_4_1 = 0;  int32_t data_v_4_2 = 0;  int32_t data_v_4_3 = 0;  int32_t data_v_4_4 = 0;  int32_t data_v_4_5 = 0;  int32_t data_v_5_0 = 0;  int32_t data_v_5_1 = 0;  int32_t data_v_5_2 = 0;  int32_t data_v_5_3 = 0;  int32_t data_v_5_4 = 0;  int32_t data_v_5_5 = 0;  int32_t lever_0_0 = 8321499;  int32_t lever_0_1 = 4468913;  int32_t lever_0_2 = -102263172;  int32_t lever_1_0 = -6745247;  int32_t lever_1_1 = -61675731;  int32_t lever_1_2 = 7505455;  int32_t lever_2_0 = 59094455;  int32_t lever_2_1 = 84293028;  int32_t lever_2_2 = -142811958;  int32_t lever_3_0 = -114181706;  int32_t lever_3_1 = 224238095;  int32_t lever_3_2 = 58957016;  int32_t lever_4_0 = -25668873;  int32_t lever_4_1 = 88186416;  int32_t lever_4_2 = -82542829;  int32_t lever_5_0 = 129168994;  int32_t lever_5_1 = -30316027;  int32_t lever_5_2 = -22585086;  int32_t masses_0 = 1334307826;  int32_t masses_1 = 1389263006;  int32_t masses_2 = 1733343574;  int32_t masses_3 = 1926236461;  int32_t masses_4 = 1316349494;  int32_t masses_5 = 1789455174;  int32_t inertia_0_0_0 = 1510475573;  int32_t inertia_0_0_1 = -298501;  int32_t inertia_0_0_2 = 14542759;  int32_t inertia_0_1_0 = -298501;  int32_t inertia_0_1_1 = 1517433421;  int32_t inertia_0_1_2 = 41165114;  int32_t inertia_0_2_0 = 14542759;  int32_t inertia_0_2_1 = 41165114;  int32_t inertia_0_2_2 = 19578608;  int32_t inertia_1_0_0 = 17098265;  int32_t inertia_1_0_1 = -8428874;  int32_t inertia_1_0_2 = 22020297;  int32_t inertia_1_1_0 = -8428874;  int32_t inertia_1_1_1 = 60365765;  int32_t inertia_1_1_2 = 1511828;  int32_t inertia_1_2_0 = 22020297;  int32_t inertia_1_2_1 = 1511828;  int32_t inertia_1_2_2 = 55823837;  int32_t inertia_2_0_0 = 79976586;  int32_t inertia_2_0_1 = -10224170;  int32_t inertia_2_0_2 = -24472724;  int32_t inertia_2_1_0 = -10224170;  int32_t inertia_2_1_1 = 77642271;  int32_t inertia_2_1_2 = -27498529;  int32_t inertia_2_2_0 = -24472724;  int32_t inertia_2_2_1 = -27498529;  int32_t inertia_2_2_2 = 23257248;  int32_t inertia_3_0_0 = 55518895;  int32_t inertia_3_0_1 = 16741783;  int32_t inertia_3_0_2 = -2860449;  int32_t inertia_3_1_0 = 16741783;  int32_t inertia_3_1_1 = 41987600;  int32_t inertia_3_1_2 = 18556406;  int32_t inertia_3_2_0 = -2860449;  int32_t inertia_3_2_1 = 18556406;  int32_t inertia_3_2_2 = 60823179;  int32_t inertia_4_0_0 = 76340896;  int32_t inertia_4_0_1 = -4546223;  int32_t inertia_4_0_2 = -8669392;  int32_t inertia_4_1_0 = -4546223;  int32_t inertia_4_1_1 = 63294933;  int32_t inertia_4_1_2 = 491774;  int32_t inertia_4_2_0 = -8669392;  int32_t inertia_4_2_1 = 491774;  int32_t inertia_4_2_2 = 18526341;  int32_t inertia_5_0_0 = 4217658;  int32_t inertia_5_0_1 = 234076;  int32_t inertia_5_0_2 = -2486787;  int32_t inertia_5_1_0 = 234076;  int32_t inertia_5_1_1 = 9350144;  int32_t inertia_5_1_2 = 732292;  int32_t inertia_5_2_0 = -2486787;  int32_t inertia_5_2_1 = 732292;  int32_t inertia_5_2_2 = 11667279;  int32_t parent_v_0 = 0;  int32_t parent_v_1 = 0;  int32_t parent_v_2 = 0;  int32_t parent_v_3 = 0;  int32_t parent_v_4 = 0;  int32_t parent_v_5 = 0;  int32_t parent_a_gf_0 = 0;  int32_t parent_a_gf_1 = 0;  int32_t parent_a_gf_2 = 1316675912;  int32_t parent_a_gf_3 = 0;  int32_t parent_a_gf_4 = 0;  int32_t parent_a_gf_5 = 0;  int32_t new_v_0 = 0;  int32_t new_v_1 = 0;  int32_t new_v_2 = 0;  int32_t new_v_3 = 0;  int32_t new_v_4 = 0;  int32_t new_v_5 = 0;  int32_t new_a_gf_0 = 0;  int32_t new_a_gf_1 = 0;  int32_t new_a_gf_2 = 0;  int32_t new_a_gf_3 = 0;  int32_t new_a_gf_4 = 0;  int32_t new_a_gf_5 = 0;  int32_t new_h_0 = 0;  int32_t new_h_1 = 0;  int32_t new_h_2 = 0;  int32_t new_h_3 = 0;  int32_t new_h_4 = 0;  int32_t new_h_5 = 0;  int32_t new_f_0 = 0;  int32_t new_f_1 = 0;  int32_t new_f_2 = 0;  int32_t new_f_3 = 0;  int32_t new_f_4 = 0;  int32_t new_f_5 = 0;  int32_t rotation_matrix_0_0_0 = qcos_0;  int32_t rotation_matrix_0_0_1 = -(qsin_0);  int32_t rotation_matrix_0_0_2 = 0;  int32_t rotation_matrix_0_1_0 = qsin_0;  int32_t rotation_matrix_0_1_1 = qcos_0;  int32_t rotation_matrix_0_1_2 = 0;  int32_t rotation_matrix_0_2_0 = 0;  int32_t rotation_matrix_0_2_1 = 0;  int32_t rotation_matrix_0_2_2 = 1073741824;  int32_t limi_rotation_0_0_0 = rotation_matrix_0_0_0;  int32_t limi_rotation_0_0_1 = rotation_matrix_0_0_1;  int32_t limi_rotation_0_0_2 = 0;  int32_t limi_rotation_0_1_0 = rotation_matrix_0_1_0;  int32_t limi_rotation_0_1_1 = rotation_matrix_0_1_1;  int32_t limi_rotation_0_1_2 = 0;  int32_t limi_rotation_0_2_0 = 0;  int32_t limi_rotation_0_2_1 = 0;  int32_t limi_rotation_0_2_2 = 1073741824;  int32_t v_linear_0_0 = data_v_0_0;  int32_t v_linear_0_1 = data_v_0_1;  int32_t v_linear_0_2 = data_v_0_2;  int32_t v_angular_0_0 = data_v_0_3;  int32_t v_angular_0_1 = data_v_0_4;  int32_t v_angular_0_2 = v_0;  int32_t parent_v_linear_0_0 = parent_v_0;  int32_t parent_v_linear_0_1 = parent_v_1;  int32_t parent_v_linear_0_2 = parent_v_2;  int32_t parent_v_angular_0_0 = parent_v_3;  int32_t parent_v_angular_0_1 = parent_v_4;  int32_t parent_v_angular_0_2 = parent_v_5;  int32_t parent_a_gf_linear_0_0 = parent_a_gf_0;  int32_t parent_a_gf_linear_0_1 = parent_a_gf_1;  int32_t parent_a_gf_linear_0_2 = parent_a_gf_2;  int32_t parent_a_gf_angular_0_0 = parent_a_gf_3;  int32_t parent_a_gf_angular_0_1 = parent_a_gf_4;  int32_t parent_a_gf_angular_0_2 = parent_a_gf_5;  int32_t minus_m_w_0 = -(v_0);  int32_t _tmp = -(minus_m_w_0);  int32_t alpha_cross1_linear_0 = (int32_t) ((((int64_t) (_tmp) * (int64_t) (v_linear_0_1)) >> 28));  int32_t alpha_cross2_linear_0 = (int32_t) ((((int64_t) (minus_m_w_0) * (int64_t) (v_linear_0_0)) >> 28));  int32_t alpha_cross_linear_0_0 = alpha_cross1_linear_0;  int32_t alpha_cross_linear_0_1 = alpha_cross2_linear_0;  int32_t alpha_cross_linear_0_2 = 0;  int32_t _tmp1 = -(minus_m_w_0);  int32_t alpha_cross1_angular_0 = (int32_t) ((((int64_t) (_tmp1) * (int64_t) (v_angular_0_1)) >> 28));  int32_t alpha_cross2_angular_0 = (int32_t) ((((int64_t) (minus_m_w_0) * (int64_t) (v_angular_0_0)) >> 28));  int32_t alpha_cross_angular_0_0 = alpha_cross1_angular_0;  int32_t alpha_cross_angular_0_1 = alpha_cross2_angular_0;  int32_t alpha_cross_angular_0_2 = 0;  int32_t r_1_new_a_gf_0_0 = alpha_cross_linear_0_0;  int32_t r_1_new_a_gf_0_1 = alpha_cross_linear_0_1;  int32_t r_1_new_a_gf_0_2 = alpha_cross_linear_0_2;  int32_t r_1_new_a_gf_0_3 = alpha_cross_angular_0_0;  int32_t r_1_new_a_gf_0_4 = alpha_cross_angular_0_1;  int32_t r_1_new_a_gf_0_5 = alpha_cross_angular_0_2;  int32_t new_a_gf_up1_0 = (a_0 + (r_1_new_a_gf_0_5 >> 3));  int32_t new_a_gf2_linear_0_0 = r_1_new_a_gf_0_0;  int32_t new_a_gf2_linear_0_1 = r_1_new_a_gf_0_1;  int32_t new_a_gf2_linear_0_2 = r_1_new_a_gf_0_2;  int32_t new_a_gf2_angular_0_0 = r_1_new_a_gf_0_3;  int32_t new_a_gf2_angular_0_1 = r_1_new_a_gf_0_4;  int32_t new_a_gf2_angular_0_2 = new_a_gf_up1_0;  int32_t _tmp2 = (int32_t) ((((int64_t) (limi_translation_0_0) * (int64_t) (parent_a_gf_angular_0_1)) >> 31));  int32_t _tmp3 = (int32_t) ((((int64_t) (limi_translation_0_1) * (int64_t) (parent_a_gf_angular_0_0)) >> 31));  int32_t actInv1_0_0 = (_tmp2 - _tmp3);  int32_t _tmp4 = (int32_t) ((((int64_t) (limi_translation_0_2) * (int64_t) (parent_a_gf_angular_0_0)) >> 31));  int32_t _tmp5 = (int32_t) ((((int64_t) (limi_translation_0_0) * (int64_t) (parent_a_gf_angular_0_2)) >> 31));  int32_t actInv1_0_1 = (_tmp4 - _tmp5);  int32_t _tmp6 = (int32_t) ((((int64_t) (limi_translation_0_0) * (int64_t) (parent_a_gf_angular_0_1)) >> 31));  int32_t _tmp7 = (int32_t) ((((int64_t) (limi_translation_0_1) * (int64_t) (parent_a_gf_angular_0_0)) >> 31));  int32_t actInv1_0_2 = (_tmp6 - _tmp7);  int32_t actInv2_0_0 = (parent_a_gf_linear_0_0 - actInv1_0_0);  int32_t actInv2_0_1 = (parent_a_gf_linear_0_1 - actInv1_0_1);  int32_t actInv2_0_2 = (parent_a_gf_linear_0_2 - (actInv1_0_2 >> 4));  int32_t actInv3_0_0_0 = limi_rotation_0_0_0;  int32_t actInv3_0_1_0 = limi_rotation_0_0_1;  int32_t actInv3_0_2_0 = limi_rotation_0_0_2;  int32_t actInv3_0_0_1 = limi_rotation_0_1_0;  int32_t actInv3_0_1_1 = limi_rotation_0_1_1;  int32_t actInv3_0_2_1 = limi_rotation_0_1_2;  int32_t actInv3_0_0_2 = limi_rotation_0_2_0;  int32_t actInv3_0_1_2 = limi_rotation_0_2_1;  int32_t actInv3_0_2_2 = limi_rotation_0_2_2;  int32_t _tmp8 = (int32_t) ((((int64_t) (actInv3_0_0_0) * (int64_t) (actInv2_0_0)) >> 30));  int32_t _tmp9 = (int32_t) ((((int64_t) (actInv3_0_0_1) * (int64_t) (actInv2_0_1)) >> 30));  int32_t _tmp10 = (_tmp8 + _tmp9);  int32_t _tmp11 = (int32_t) ((((int64_t) (actInv3_0_0_2) * (int64_t) (actInv2_0_2)) >> 27));  int32_t actInv4_0_0 = (_tmp10 + _tmp11);  int32_t _tmp12 = (int32_t) ((((int64_t) (actInv3_0_1_0) * (int64_t) (actInv2_0_0)) >> 30));  int32_t _tmp13 = (int32_t) ((((int64_t) (actInv3_0_1_1) * (int64_t) (actInv2_0_1)) >> 30));  int32_t _tmp14 = (_tmp12 + _tmp13);  int32_t _tmp15 = (int32_t) ((((int64_t) (actInv3_0_1_2) * (int64_t) (actInv2_0_2)) >> 27));  int32_t actInv4_0_1 = (_tmp14 + _tmp15);  int32_t _tmp16 = (int32_t) ((((int64_t) (actInv3_0_2_0) * (int64_t) (actInv2_0_0)) >> 31));  int32_t _tmp17 = (int32_t) ((((int64_t) (actInv3_0_2_1) * (int64_t) (actInv2_0_1)) >> 31));  int32_t _tmp18 = (_tmp16 + _tmp17);  int32_t _tmp19 = (int32_t) ((((int64_t) (actInv3_0_2_2) * (int64_t) (actInv2_0_2)) >> 30));  int32_t actInv4_0_2 = ((_tmp18 >> 4) + _tmp19);  int32_t act_inv_linear_0_0 = (new_a_gf2_linear_0_0 + actInv4_0_0);  int32_t act_inv_linear_0_1 = (new_a_gf2_linear_0_1 + actInv4_0_1);  int32_t act_inv_linear_0_2 = ((new_a_gf2_linear_0_2 >> 4) + actInv4_0_2);  int32_t _tmp20 = (int32_t) ((((int64_t) (actInv3_0_0_0) * (int64_t) (parent_a_gf_angular_0_0)) >> 30));  int32_t _tmp21 = (int32_t) ((((int64_t) (actInv3_0_0_1) * (int64_t) (parent_a_gf_angular_0_1)) >> 30));  int32_t _tmp22 = (_tmp20 + _tmp21);  int32_t _tmp23 = (int32_t) ((((int64_t) (actInv3_0_0_2) * (int64_t) (parent_a_gf_angular_0_2)) >> 31));  int32_t actInv5_0_0 = (_tmp22 + _tmp23);  int32_t _tmp24 = (int32_t) ((((int64_t) (actInv3_0_1_0) * (int64_t) (parent_a_gf_angular_0_0)) >> 30));  int32_t _tmp25 = (int32_t) ((((int64_t) (actInv3_0_1_1) * (int64_t) (parent_a_gf_angular_0_1)) >> 30));  int32_t _tmp26 = (_tmp24 + _tmp25);  int32_t _tmp27 = (int32_t) ((((int64_t) (actInv3_0_1_2) * (int64_t) (parent_a_gf_angular_0_2)) >> 31));  int32_t actInv5_0_1 = (_tmp26 + _tmp27);  int32_t _tmp28 = (int32_t) ((((int64_t) (actInv3_0_2_0) * (int64_t) (parent_a_gf_angular_0_0)) >> 31));  int32_t _tmp29 = (int32_t) ((((int64_t) (actInv3_0_2_1) * (int64_t) (parent_a_gf_angular_0_1)) >> 31));  int32_t _tmp30 = (_tmp28 + _tmp29);  int32_t _tmp31 = (int32_t) ((((int64_t) (actInv3_0_2_2) * (int64_t) (parent_a_gf_angular_0_2)) >> 30));  int32_t actInv5_0_2 = (_tmp30 + _tmp31);  int32_t act_inv_angular_0_0 = (new_a_gf2_angular_0_0 + actInv5_0_0);  int32_t act_inv_angular_0_1 = (new_a_gf2_angular_0_1 + actInv5_0_1);  int32_t act_inv_angular_0_2 = (new_a_gf2_angular_0_2 + (actInv5_0_2 >> 3));  int32_t new_a_gf_up3_0_0 = act_inv_linear_0_0;  int32_t new_a_gf_up3_0_1 = act_inv_linear_0_1;  int32_t new_a_gf_up3_0_2 = act_inv_linear_0_2;  int32_t new_a_gf_up3_0_3 = act_inv_angular_0_0;  int32_t new_a_gf_up3_0_4 = act_inv_angular_0_1;  int32_t new_a_gf_up3_0_5 = act_inv_angular_0_2;  int32_t _tmp32 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (v_angular_0_1)) >> 31));  int32_t _tmp33 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (v_angular_0_0)) >> 31));  int32_t h_linear_1_0_0 = (_tmp32 - _tmp33);  int32_t _tmp34 = (int32_t) ((((int64_t) (lever_0_2) * (int64_t) (v_angular_0_0)) >> 31));  int32_t _tmp35 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (v_angular_0_2)) >> 28));  int32_t h_linear_1_0_1 = (_tmp34 - _tmp35);  int32_t _tmp36 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (v_angular_0_1)) >> 31));  int32_t _tmp37 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (v_angular_0_0)) >> 31));  int32_t h_linear_1_0_2 = (_tmp36 - _tmp37);  int32_t h_linear_2_0_0 = (v_linear_0_0 - h_linear_1_0_0);  int32_t h_linear_2_0_1 = (v_linear_0_1 - h_linear_1_0_1);  int32_t h_linear_2_0_2 = (v_linear_0_2 - h_linear_1_0_2);  int32_t h_linear_0_0 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (h_linear_2_0_0)) >> 28));  int32_t h_linear_0_1 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (h_linear_2_0_1)) >> 28));  int32_t h_linear_0_2 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (h_linear_2_0_2)) >> 28));  int32_t r_2_ = (int32_t) ((((int64_t) (inertia_0_0_0) * (int64_t) (v_angular_0_0)) >> 31));  int32_t r_3_ = (int32_t) ((((int64_t) (inertia_0_0_1) * (int64_t) (v_angular_0_1)) >> 31));  int32_t r_4_ = (int32_t) ((((int64_t) (inertia_0_0_2) * (int64_t) (v_angular_0_2)) >> 28));  int32_t r_5_ = (int32_t) ((((int64_t) (inertia_0_0_1) * (int64_t) (v_angular_0_0)) >> 31));  int32_t r_6_ = (int32_t) ((((int64_t) (inertia_0_1_1) * (int64_t) (v_angular_0_1)) >> 31));  int32_t r_7_ = (int32_t) ((((int64_t) (inertia_0_1_2) * (int64_t) (v_angular_0_2)) >> 28));  int32_t r_8_ = (int32_t) ((((int64_t) (inertia_0_0_2) * (int64_t) (v_angular_0_0)) >> 31));  int32_t r_9_ = (int32_t) ((((int64_t) (inertia_0_1_2) * (int64_t) (v_angular_0_1)) >> 31));  int32_t r_10_ = (int32_t) ((((int64_t) (inertia_0_2_2) * (int64_t) (v_angular_0_2)) >> 28));  int32_t rhsMult1_temp_0 = (r_2_ + r_3_);  int32_t rhsMult1_0 = (rhsMult1_temp_0 + r_4_);  int32_t rhsMult2_temp_0 = (r_5_ + r_6_);  int32_t rhsMult2_0 = (rhsMult2_temp_0 + r_7_);  int32_t rhsMult3_temp_0 = (r_8_ + r_9_);  int32_t rhsMult3_0 = (rhsMult3_temp_0 + r_10_);  int32_t rhsMult_0_0 = rhsMult1_0;  int32_t rhsMult_0_1 = rhsMult2_0;  int32_t rhsMult_0_2 = rhsMult3_0;  int32_t h_angular_first_0_0 = rhsMult_0_0;  int32_t h_angular_first_0_1 = rhsMult_0_1;  int32_t h_angular_first_0_2 = rhsMult_0_2;  int32_t _tmp38 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp39 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t h_angular_1_0_0 = (_tmp38 - _tmp39);  int32_t _tmp40 = (int32_t) ((((int64_t) (lever_0_2) * (int64_t) (h_linear_0_0)) >> 31));  int32_t _tmp41 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (h_linear_0_2)) >> 31));  int32_t h_angular_1_0_1 = (_tmp40 - _tmp41);  int32_t _tmp42 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp43 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t h_angular_1_0_2 = (_tmp42 - _tmp43);  int32_t h_angular_0_0 = (h_angular_first_0_0 + h_angular_1_0_0);  int32_t h_angular_0_1 = (h_angular_first_0_1 + h_angular_1_0_1);  int32_t h_angular_0_2 = (h_angular_first_0_2 + h_angular_1_0_2);  int32_t _tmp44 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (act_inv_angular_0_1)) >> 31));  int32_t _tmp45 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t f_linear_1_0_0 = (_tmp44 - _tmp45);  int32_t _tmp46 = (int32_t) ((((int64_t) (lever_0_2) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t _tmp47 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (act_inv_angular_0_2)) >> 28));  int32_t f_linear_1_0_1 = (_tmp46 - _tmp47);  int32_t _tmp48 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (act_inv_angular_0_1)) >> 31));  int32_t _tmp49 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t f_linear_1_0_2 = (_tmp48 - _tmp49);  int32_t f_linear_2_0_0 = (act_inv_linear_0_0 - f_linear_1_0_0);  int32_t f_linear_2_0_1 = (act_inv_linear_0_1 - f_linear_1_0_1);  int32_t f_linear_2_0_2 = (act_inv_linear_0_2 - (f_linear_1_0_2 >> 4));  int32_t f_linear_3_0_0 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (f_linear_2_0_0)) >> 28));  int32_t f_linear_3_0_1 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (f_linear_2_0_1)) >> 28));  int32_t f_linear_3_0_2 = (int32_t) ((((int64_t) (masses_0) * (int64_t) (f_linear_2_0_2)) >> 30));  int32_t r_11_ = (int32_t) ((((int64_t) (inertia_0_0_0) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t r_12_ = (int32_t) ((((int64_t) (inertia_0_0_1) * (int64_t) (act_inv_angular_0_1)) >> 31));  int32_t r_13_ = (int32_t) ((((int64_t) (inertia_0_0_2) * (int64_t) (act_inv_angular_0_2)) >> 28));  int32_t r_14_ = (int32_t) ((((int64_t) (inertia_0_0_1) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t r_15_ = (int32_t) ((((int64_t) (inertia_0_1_1) * (int64_t) (act_inv_angular_0_1)) >> 31));  int32_t r_16_ = (int32_t) ((((int64_t) (inertia_0_1_2) * (int64_t) (act_inv_angular_0_2)) >> 28));  int32_t r_17_ = (int32_t) ((((int64_t) (inertia_0_0_2) * (int64_t) (act_inv_angular_0_0)) >> 31));  int32_t r_18_ = (int32_t) ((((int64_t) (inertia_0_1_2) * (int64_t) (act_inv_angular_0_1)) >> 31));  int32_t r_19_ = (int32_t) ((((int64_t) (inertia_0_2_2) * (int64_t) (act_inv_angular_0_2)) >> 28));  int32_t r_20_rhsMult1_temp_0 = (r_11_ + r_12_);  int32_t r_21_rhsMult1_0 = (r_20_rhsMult1_temp_0 + r_13_);  int32_t r_22_rhsMult2_temp_0 = (r_14_ + r_15_);  int32_t r_23_rhsMult2_0 = (r_22_rhsMult2_temp_0 + r_16_);  int32_t r_24_rhsMult3_temp_0 = (r_17_ + r_18_);  int32_t r_25_rhsMult3_0 = (r_24_rhsMult3_temp_0 + r_19_);  int32_t r_26_rhsMult_0_0 = r_21_rhsMult1_0;  int32_t r_26_rhsMult_0_1 = r_23_rhsMult2_0;  int32_t r_26_rhsMult_0_2 = r_25_rhsMult3_0;  int32_t f_angular_first_0_0 = r_26_rhsMult_0_0;  int32_t f_angular_first_0_1 = r_26_rhsMult_0_1;  int32_t f_angular_first_0_2 = r_26_rhsMult_0_2;  int32_t _tmp50 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (f_linear_3_0_1)) >> 31));  int32_t _tmp51 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (f_linear_3_0_0)) >> 31));  int32_t f_angular_1_0_0 = (_tmp50 - _tmp51);  int32_t _tmp52 = (int32_t) ((((int64_t) (lever_0_2) * (int64_t) (f_linear_3_0_0)) >> 31));  int32_t _tmp53 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (f_linear_3_0_2)) >> 25));  int32_t f_angular_1_0_1 = (_tmp52 - _tmp53);  int32_t _tmp54 = (int32_t) ((((int64_t) (lever_0_0) * (int64_t) (f_linear_3_0_1)) >> 31));  int32_t _tmp55 = (int32_t) ((((int64_t) (lever_0_1) * (int64_t) (f_linear_3_0_0)) >> 31));  int32_t f_angular_1_0_2 = (_tmp54 - _tmp55);  int32_t f_angular_2_0_0 = (f_angular_first_0_0 + f_angular_1_0_0);  int32_t f_angular_2_0_1 = (f_angular_first_0_1 + f_angular_1_0_1);  int32_t f_angular_2_0_2 = (f_angular_first_0_2 + f_angular_1_0_2);  int32_t _tmp56 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp57 = (int32_t) ((((int64_t) (v_angular_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t f_linear_4_temp_0_0 = (_tmp56 - _tmp57);  int32_t _tmp58 = (int32_t) ((((int64_t) (v_angular_0_2) * (int64_t) (h_linear_0_0)) >> 28));  int32_t _tmp59 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_linear_0_2)) >> 31));  int32_t f_linear_4_temp_0_1 = (_tmp58 - _tmp59);  int32_t _tmp60 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp61 = (int32_t) ((((int64_t) (v_angular_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t f_linear_4_temp_0_2 = (_tmp60 - _tmp61);  int32_t f_linear_4_0_0 = (f_linear_3_0_0 + f_linear_4_temp_0_0);  int32_t f_linear_4_0_1 = (f_linear_3_0_1 + f_linear_4_temp_0_1);  int32_t f_linear_4_0_2 = (f_linear_3_0_2 + (f_linear_4_temp_0_2 >> 6));  int32_t _tmp62 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_angular_first_0_1)) >> 31));  int32_t _tmp63 = (int32_t) ((((int64_t) (v_angular_0_1) * (int64_t) (h_angular_first_0_0)) >> 31));  int32_t f_angular_3_temp_0_0 = (_tmp62 - _tmp63);  int32_t _tmp64 = (int32_t) ((((int64_t) (v_angular_0_2) * (int64_t) (h_angular_first_0_0)) >> 28));  int32_t _tmp65 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_angular_first_0_2)) >> 31));  int32_t f_angular_3_temp_0_1 = (_tmp64 - _tmp65);  int32_t _tmp66 = (int32_t) ((((int64_t) (v_angular_0_0) * (int64_t) (h_angular_first_0_1)) >> 31));  int32_t _tmp67 = (int32_t) ((((int64_t) (v_angular_0_1) * (int64_t) (h_angular_first_0_0)) >> 31));  int32_t f_angular_3_temp_0_2 = (_tmp66 - _tmp67);  int32_t f_angular_3_0_0 = (f_angular_2_0_0 + f_angular_3_temp_0_0);  int32_t f_angular_3_0_1 = (f_angular_2_0_1 + f_angular_3_temp_0_1);  int32_t f_angular_3_0_2 = (f_angular_2_0_2 + f_angular_3_temp_0_2);  int32_t _tmp68 = (int32_t) ((((int64_t) (v_linear_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp69 = (int32_t) ((((int64_t) (v_linear_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t f_angular_4_temp_0_0 = (_tmp68 - _tmp69);  int32_t _tmp70 = (int32_t) ((((int64_t) (v_linear_0_2) * (int64_t) (h_linear_0_0)) >> 31));  int32_t _tmp71 = (int32_t) ((((int64_t) (v_linear_0_0) * (int64_t) (h_linear_0_2)) >> 31));  int32_t f_angular_4_temp_0_1 = (_tmp70 - _tmp71);  int32_t _tmp72 = (int32_t) ((((int64_t) (v_linear_0_0) * (int64_t) (h_linear_0_1)) >> 31));  int32_t _tmp73 = (int32_t) ((((int64_t) (v_linear_0_1) * (int64_t) (h_linear_0_0)) >> 31));  int32_t f_angular_4_temp_0_2 = (_tmp72 - _tmp73);  int32_t f_angular_4_0_0 = (f_angular_3_0_0 + f_angular_4_temp_0_0);  int32_t f_angular_4_0_1 = (f_angular_3_0_1 + f_angular_4_temp_0_1);  int32_t f_angular_4_0_2 = (f_angular_3_0_2 + f_angular_4_temp_0_2);  int32_t h_rnea_firstpass0_0 = h_linear_0_0;  int32_t h_rnea_firstpass0_1 = h_linear_0_1;  int32_t h_rnea_firstpass0_2 = h_linear_0_2;  int32_t h_rnea_firstpass0_3 = h_angular_0_0;  int32_t h_rnea_firstpass0_4 = h_angular_0_1;  int32_t h_rnea_firstpass0_5 = h_angular_0_2;  int32_t f_rnea_firstpass0_0 = f_linear_4_0_0;  int32_t f_rnea_firstpass0_1 = f_linear_4_0_1;  int32_t f_rnea_firstpass0_2 = f_linear_4_0_2;  int32_t f_rnea_firstpass0_3 = f_angular_4_0_0;  int32_t f_rnea_firstpass0_4 = f_angular_4_0_1;  int32_t f_rnea_firstpass0_5 = f_angular_4_0_2;  int32_t r_27_new_v_0_0 = v_linear_0_0;  int32_t r_27_new_v_0_1 = v_linear_0_1;  int32_t r_27_new_v_0_2 = v_linear_0_2;  int32_t r_27_new_v_0_3 = v_angular_0_0;  int32_t r_27_new_v_0_4 = v_angular_0_1;  int32_t r_27_new_v_0_5 = v_angular_0_2;  int32_t rotation_matrix_1_0_0 = qcos_1;  int32_t rotation_matrix_1_0_1 = -(qsin_1);  int32_t rotation_matrix_1_0_2 = 0;  int32_t rotation_matrix_1_1_0 = qsin_1;  int32_t rotation_matrix_1_1_1 = qcos_1;  int32_t rotation_matrix_1_1_2 = 0;  int32_t rotation_matrix_1_2_0 = 0;  int32_t rotation_matrix_1_2_1 = 0;  int32_t rotation_matrix_1_2_2 = 1073741824;  int32_t limi_rotation_1_0_0 = rotation_matrix_1_0_0;  int32_t limi_rotation_1_0_1 = rotation_matrix_1_0_1;  int32_t limi_rotation_1_0_2 = 0;  int32_t limi_rotation_1_1_0 = 0;  int32_t limi_rotation_1_1_1 = 0;  int32_t limi_rotation_1_1_2 = 1073741824;  int32_t limi_rotation_1_2_0 = -(rotation_matrix_1_1_0);  int32_t limi_rotation_1_2_1 = -(rotation_matrix_1_1_1);  int32_t limi_rotation_1_2_2 = 0;  int32_t v_linear_1_0 = data_v_1_0;  int32_t v_linear_1_1 = data_v_1_1;  int32_t v_linear_1_2 = data_v_1_2;  int32_t v_angular_1_0 = data_v_1_3;  int32_t v_angular_1_1 = data_v_1_4;  int32_t v_angular_1_2 = v_1;  int32_t parent_v_linear_1_0 = r_27_new_v_0_0;  int32_t parent_v_linear_1_1 = r_27_new_v_0_1;  int32_t parent_v_linear_1_2 = r_27_new_v_0_2;  int32_t parent_v_angular_1_0 = r_27_new_v_0_3;  int32_t parent_v_angular_1_1 = r_27_new_v_0_4;  int32_t parent_v_angular_1_2 = r_27_new_v_0_5;  int32_t parent_a_gf_linear_1_0 = new_a_gf_up3_0_0;  int32_t parent_a_gf_linear_1_1 = new_a_gf_up3_0_1;  int32_t parent_a_gf_linear_1_2 = new_a_gf_up3_0_2;  int32_t parent_a_gf_angular_1_0 = new_a_gf_up3_0_3;  int32_t parent_a_gf_angular_1_1 = new_a_gf_up3_0_4;  int32_t parent_a_gf_angular_1_2 = new_a_gf_up3_0_5;  int32_t _tmp74 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_v_angular_1_1)) >> 31));  int32_t _tmp75 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (parent_v_angular_1_0)) >> 31));  int32_t actInv1_1_0 = (_tmp74 - _tmp75);  int32_t _tmp76 = (int32_t) ((((int64_t) (limi_translation_1_2) * (int64_t) (parent_v_angular_1_0)) >> 31));  int32_t _tmp77 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_v_angular_1_2)) >> 28));  int32_t actInv1_1_1 = (_tmp76 - _tmp77);  int32_t _tmp78 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_v_angular_1_1)) >> 31));  int32_t _tmp79 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (parent_v_angular_1_0)) >> 31));  int32_t actInv1_1_2 = (_tmp78 - _tmp79);  int32_t actInv2_1_0 = (parent_v_linear_1_0 - actInv1_1_0);  int32_t actInv2_1_1 = (parent_v_linear_1_1 - actInv1_1_1);  int32_t actInv2_1_2 = (parent_v_linear_1_2 - actInv1_1_2);  int32_t actInv3_1_0_0 = limi_rotation_1_0_0;  int32_t actInv3_1_1_0 = limi_rotation_1_0_1;  int32_t actInv3_1_2_0 = limi_rotation_1_0_2;  int32_t actInv3_1_0_1 = limi_rotation_1_1_0;  int32_t actInv3_1_1_1 = limi_rotation_1_1_1;  int32_t actInv3_1_2_1 = limi_rotation_1_1_2;  int32_t actInv3_1_0_2 = limi_rotation_1_2_0;  int32_t actInv3_1_1_2 = limi_rotation_1_2_1;  int32_t actInv3_1_2_2 = limi_rotation_1_2_2;  int32_t _tmp80 = (int32_t) ((((int64_t) (actInv3_1_0_0) * (int64_t) (actInv2_1_0)) >> 30));  int32_t _tmp81 = (int32_t) ((((int64_t) (actInv3_1_0_1) * (int64_t) (actInv2_1_1)) >> 31));  int32_t _tmp82 = (_tmp80 + _tmp81);  int32_t _tmp83 = (int32_t) ((((int64_t) (actInv3_1_0_2) * (int64_t) (actInv2_1_2)) >> 30));  int32_t actInv4_1_0 = (_tmp82 + _tmp83);  int32_t _tmp84 = (int32_t) ((((int64_t) (actInv3_1_1_0) * (int64_t) (actInv2_1_0)) >> 30));  int32_t _tmp85 = (int32_t) ((((int64_t) (actInv3_1_1_1) * (int64_t) (actInv2_1_1)) >> 31));  int32_t _tmp86 = (_tmp84 + _tmp85);  int32_t _tmp87 = (int32_t) ((((int64_t) (actInv3_1_1_2) * (int64_t) (actInv2_1_2)) >> 30));  int32_t actInv4_1_1 = (_tmp86 + _tmp87);  int32_t _tmp88 = (int32_t) ((((int64_t) (actInv3_1_2_0) * (int64_t) (actInv2_1_0)) >> 31));  int32_t _tmp89 = (int32_t) ((((int64_t) (actInv3_1_2_1) * (int64_t) (actInv2_1_1)) >> 30));  int32_t _tmp90 = (_tmp88 + _tmp89);  int32_t _tmp91 = (int32_t) ((((int64_t) (actInv3_1_2_2) * (int64_t) (actInv2_1_2)) >> 31));  int32_t actInv4_1_2 = (_tmp90 + _tmp91);  int32_t act_inv_linear_1_0 = (v_linear_1_0 + actInv4_1_0);  int32_t act_inv_linear_1_1 = (v_linear_1_1 + actInv4_1_1);  int32_t act_inv_linear_1_2 = (v_linear_1_2 + actInv4_1_2);  int32_t _tmp92 = (int32_t) ((((int64_t) (actInv3_1_0_0) * (int64_t) (parent_v_angular_1_0)) >> 30));  int32_t _tmp93 = (int32_t) ((((int64_t) (actInv3_1_0_1) * (int64_t) (parent_v_angular_1_1)) >> 31));  int32_t _tmp94 = (_tmp92 + _tmp93);  int32_t _tmp95 = (int32_t) ((((int64_t) (actInv3_1_0_2) * (int64_t) (parent_v_angular_1_2)) >> 30));  int32_t actInv5_1_0 = ((_tmp94 >> 3) + _tmp95);  int32_t _tmp96 = (int32_t) ((((int64_t) (actInv3_1_1_0) * (int64_t) (parent_v_angular_1_0)) >> 30));  int32_t _tmp97 = (int32_t) ((((int64_t) (actInv3_1_1_1) * (int64_t) (parent_v_angular_1_1)) >> 31));  int32_t _tmp98 = (_tmp96 + _tmp97);  int32_t _tmp99 = (int32_t) ((((int64_t) (actInv3_1_1_2) * (int64_t) (parent_v_angular_1_2)) >> 30));  int32_t actInv5_1_1 = ((_tmp98 >> 3) + _tmp99);  int32_t _tmp100 = (int32_t) ((((int64_t) (actInv3_1_2_0) * (int64_t) (parent_v_angular_1_0)) >> 31));  int32_t _tmp101 = (int32_t) ((((int64_t) (actInv3_1_2_1) * (int64_t) (parent_v_angular_1_1)) >> 30));  int32_t _tmp102 = (_tmp100 + _tmp101);  int32_t _tmp103 = (int32_t) ((((int64_t) (actInv3_1_2_2) * (int64_t) (parent_v_angular_1_2)) >> 28));  int32_t actInv5_1_2 = (_tmp102 + _tmp103);  int32_t act_inv_angular_1_0 = ((v_angular_1_0 >> 3) + actInv5_1_0);  int32_t act_inv_angular_1_1 = ((v_angular_1_1 >> 3) + actInv5_1_1);  int32_t act_inv_angular_1_2 = (v_angular_1_2 + (actInv5_1_2 >> 3));  int32_t minus_m_w_1 = -(v_1);  int32_t _tmp104 = -(minus_m_w_1);  int32_t alpha_cross1_linear_1 = (int32_t) ((((int64_t) (_tmp104) * (int64_t) (act_inv_linear_1_1)) >> 28));  int32_t alpha_cross2_linear_1 = (int32_t) ((((int64_t) (minus_m_w_1) * (int64_t) (act_inv_linear_1_0)) >> 28));  int32_t alpha_cross_linear_1_0 = alpha_cross1_linear_1;  int32_t alpha_cross_linear_1_1 = alpha_cross2_linear_1;  int32_t alpha_cross_linear_1_2 = 0;  int32_t _tmp105 = -(minus_m_w_1);  int32_t alpha_cross1_angular_1 = (int32_t) ((((int64_t) (_tmp105) * (int64_t) (act_inv_angular_1_1)) >> 30));  int32_t alpha_cross2_angular_1 = (int32_t) ((((int64_t) (minus_m_w_1) * (int64_t) (act_inv_angular_1_0)) >> 30));  int32_t alpha_cross_angular_1_0 = alpha_cross1_angular_1;  int32_t alpha_cross_angular_1_1 = alpha_cross2_angular_1;  int32_t alpha_cross_angular_1_2 = 0;  int32_t r_28_new_a_gf_1_0 = alpha_cross_linear_1_0;  int32_t r_28_new_a_gf_1_1 = alpha_cross_linear_1_1;  int32_t r_28_new_a_gf_1_2 = alpha_cross_linear_1_2;  int32_t r_28_new_a_gf_1_3 = alpha_cross_angular_1_0;  int32_t r_28_new_a_gf_1_4 = alpha_cross_angular_1_1;  int32_t r_28_new_a_gf_1_5 = alpha_cross_angular_1_2;  int32_t new_a_gf_up1_1 = (a_1 + (r_28_new_a_gf_1_5 >> 3));  int32_t new_a_gf2_linear_1_0 = r_28_new_a_gf_1_0;  int32_t new_a_gf2_linear_1_1 = r_28_new_a_gf_1_1;  int32_t new_a_gf2_linear_1_2 = r_28_new_a_gf_1_2;  int32_t new_a_gf2_angular_1_0 = r_28_new_a_gf_1_3;  int32_t new_a_gf2_angular_1_1 = r_28_new_a_gf_1_4;  int32_t new_a_gf2_angular_1_2 = new_a_gf_up1_1;  int32_t _tmp106 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_a_gf_angular_1_1)) >> 31));  int32_t _tmp107 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (parent_a_gf_angular_1_0)) >> 31));  int32_t r_29_actInv1_1_0 = (_tmp106 - _tmp107);  int32_t _tmp108 = (int32_t) ((((int64_t) (limi_translation_1_2) * (int64_t) (parent_a_gf_angular_1_0)) >> 31));  int32_t _tmp109 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_a_gf_angular_1_2)) >> 28));  int32_t r_29_actInv1_1_1 = (_tmp108 - _tmp109);  int32_t _tmp110 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (parent_a_gf_angular_1_1)) >> 31));  int32_t _tmp111 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (parent_a_gf_angular_1_0)) >> 31));  int32_t r_29_actInv1_1_2 = (_tmp110 - _tmp111);  int32_t r_30_actInv2_1_0 = (parent_a_gf_linear_1_0 - r_29_actInv1_1_0);  int32_t r_30_actInv2_1_1 = (parent_a_gf_linear_1_1 - r_29_actInv1_1_1);  int32_t r_30_actInv2_1_2 = (parent_a_gf_linear_1_2 - (r_29_actInv1_1_2 >> 4));  int32_t r_31_actInv3_1_0_0 = limi_rotation_1_0_0;  int32_t r_31_actInv3_1_1_0 = limi_rotation_1_0_1;  int32_t r_31_actInv3_1_2_0 = limi_rotation_1_0_2;  int32_t r_31_actInv3_1_0_1 = limi_rotation_1_1_0;  int32_t r_31_actInv3_1_1_1 = limi_rotation_1_1_1;  int32_t r_31_actInv3_1_2_1 = limi_rotation_1_1_2;  int32_t r_31_actInv3_1_0_2 = limi_rotation_1_2_0;  int32_t r_31_actInv3_1_1_2 = limi_rotation_1_2_1;  int32_t r_31_actInv3_1_2_2 = limi_rotation_1_2_2;  int32_t _tmp112 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_0) * (int64_t) (r_30_actInv2_1_0)) >> 30));  int32_t _tmp113 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_1) * (int64_t) (r_30_actInv2_1_1)) >> 31));  int32_t _tmp114 = (_tmp112 + _tmp113);  int32_t _tmp115 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_2) * (int64_t) (r_30_actInv2_1_2)) >> 30));  int32_t r_32_actInv4_1_0 = ((_tmp114 >> 4) + _tmp115);  int32_t _tmp116 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_0) * (int64_t) (r_30_actInv2_1_0)) >> 30));  int32_t _tmp117 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_1) * (int64_t) (r_30_actInv2_1_1)) >> 31));  int32_t _tmp118 = (_tmp116 + _tmp117);  int32_t _tmp119 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_2) * (int64_t) (r_30_actInv2_1_2)) >> 30));  int32_t r_32_actInv4_1_1 = ((_tmp118 >> 4) + _tmp119);  int32_t _tmp120 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_0) * (int64_t) (r_30_actInv2_1_0)) >> 31));  int32_t _tmp121 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_1) * (int64_t) (r_30_actInv2_1_1)) >> 30));  int32_t _tmp122 = (_tmp120 + _tmp121);  int32_t _tmp123 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_2) * (int64_t) (r_30_actInv2_1_2)) >> 27));  int32_t r_32_actInv4_1_2 = (_tmp122 + _tmp123);  int32_t r_33_act_inv_linear_1_0 = ((new_a_gf2_linear_1_0 >> 4) + r_32_actInv4_1_0);  int32_t r_33_act_inv_linear_1_1 = ((new_a_gf2_linear_1_1 >> 4) + r_32_actInv4_1_1);  int32_t r_33_act_inv_linear_1_2 = (new_a_gf2_linear_1_2 + r_32_actInv4_1_2);  int32_t _tmp124 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_0) * (int64_t) (parent_a_gf_angular_1_0)) >> 30));  int32_t _tmp125 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_1) * (int64_t) (parent_a_gf_angular_1_1)) >> 31));  int32_t _tmp126 = (_tmp124 + _tmp125);  int32_t _tmp127 = (int32_t) ((((int64_t) (r_31_actInv3_1_0_2) * (int64_t) (parent_a_gf_angular_1_2)) >> 30));  int32_t r_34_actInv5_1_0 = ((_tmp126 >> 3) + _tmp127);  int32_t _tmp128 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_0) * (int64_t) (parent_a_gf_angular_1_0)) >> 30));  int32_t _tmp129 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_1) * (int64_t) (parent_a_gf_angular_1_1)) >> 31));  int32_t _tmp130 = (_tmp128 + _tmp129);  int32_t _tmp131 = (int32_t) ((((int64_t) (r_31_actInv3_1_1_2) * (int64_t) (parent_a_gf_angular_1_2)) >> 30));  int32_t r_34_actInv5_1_1 = ((_tmp130 >> 3) + _tmp131);  int32_t _tmp132 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_0) * (int64_t) (parent_a_gf_angular_1_0)) >> 31));  int32_t _tmp133 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_1) * (int64_t) (parent_a_gf_angular_1_1)) >> 30));  int32_t _tmp134 = (_tmp132 + _tmp133);  int32_t _tmp135 = (int32_t) ((((int64_t) (r_31_actInv3_1_2_2) * (int64_t) (parent_a_gf_angular_1_2)) >> 28));  int32_t r_34_actInv5_1_2 = (_tmp134 + _tmp135);  int32_t r_35_act_inv_angular_1_0 = (new_a_gf2_angular_1_0 + (r_34_actInv5_1_0 >> 2));  int32_t r_35_act_inv_angular_1_1 = (new_a_gf2_angular_1_1 + (r_34_actInv5_1_1 >> 2));  int32_t r_35_act_inv_angular_1_2 = (new_a_gf2_angular_1_2 + (r_34_actInv5_1_2 >> 3));  int32_t new_a_gf_up3_1_0 = r_33_act_inv_linear_1_0;  int32_t new_a_gf_up3_1_1 = r_33_act_inv_linear_1_1;  int32_t new_a_gf_up3_1_2 = r_33_act_inv_linear_1_2;  int32_t new_a_gf_up3_1_3 = r_35_act_inv_angular_1_0;  int32_t new_a_gf_up3_1_4 = r_35_act_inv_angular_1_1;  int32_t new_a_gf_up3_1_5 = r_35_act_inv_angular_1_2;  int32_t _tmp136 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (act_inv_angular_1_1)) >> 28));  int32_t _tmp137 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t h_linear_1_1_0 = (_tmp136 - _tmp137);  int32_t _tmp138 = (int32_t) ((((int64_t) (lever_1_2) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t _tmp139 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (act_inv_angular_1_2)) >> 28));  int32_t h_linear_1_1_1 = (_tmp138 - _tmp139);  int32_t _tmp140 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (act_inv_angular_1_1)) >> 28));  int32_t _tmp141 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t h_linear_1_1_2 = (_tmp140 - _tmp141);  int32_t h_linear_2_1_0 = (act_inv_linear_1_0 - h_linear_1_1_0);  int32_t h_linear_2_1_1 = (act_inv_linear_1_1 - h_linear_1_1_1);  int32_t h_linear_2_1_2 = (act_inv_linear_1_2 - h_linear_1_1_2);  int32_t h_linear_1_0 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (h_linear_2_1_0)) >> 31));  int32_t h_linear_1_1 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (h_linear_2_1_1)) >> 31));  int32_t h_linear_1_2 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (h_linear_2_1_2)) >> 31));  int32_t r_36_ = (int32_t) ((((int64_t) (inertia_1_0_0) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t r_37_ = (int32_t) ((((int64_t) (inertia_1_0_1) * (int64_t) (act_inv_angular_1_1)) >> 28));  int32_t r_38_ = (int32_t) ((((int64_t) (inertia_1_0_2) * (int64_t) (act_inv_angular_1_2)) >> 28));  int32_t r_39_ = (int32_t) ((((int64_t) (inertia_1_0_1) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t r_40_ = (int32_t) ((((int64_t) (inertia_1_1_1) * (int64_t) (act_inv_angular_1_1)) >> 28));  int32_t r_41_ = (int32_t) ((((int64_t) (inertia_1_1_2) * (int64_t) (act_inv_angular_1_2)) >> 28));  int32_t r_42_ = (int32_t) ((((int64_t) (inertia_1_0_2) * (int64_t) (act_inv_angular_1_0)) >> 28));  int32_t r_43_ = (int32_t) ((((int64_t) (inertia_1_1_2) * (int64_t) (act_inv_angular_1_1)) >> 28));  int32_t r_44_ = (int32_t) ((((int64_t) (inertia_1_2_2) * (int64_t) (act_inv_angular_1_2)) >> 28));  int32_t rhsMult1_temp_1 = (r_36_ + r_37_);  int32_t rhsMult1_1 = (rhsMult1_temp_1 + r_38_);  int32_t rhsMult2_temp_1 = (r_39_ + r_40_);  int32_t rhsMult2_1 = (rhsMult2_temp_1 + r_41_);  int32_t rhsMult3_temp_1 = (r_42_ + r_43_);  int32_t rhsMult3_1 = (rhsMult3_temp_1 + r_44_);  int32_t rhsMult_1_0 = rhsMult1_1;  int32_t rhsMult_1_1 = rhsMult2_1;  int32_t rhsMult_1_2 = rhsMult3_1;  int32_t h_angular_first_1_0 = rhsMult_1_0;  int32_t h_angular_first_1_1 = rhsMult_1_1;  int32_t h_angular_first_1_2 = rhsMult_1_2;  int32_t _tmp142 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (h_linear_1_1)) >> 31));  int32_t _tmp143 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (h_linear_1_0)) >> 31));  int32_t h_angular_1_1_0 = (_tmp142 - _tmp143);  int32_t _tmp144 = (int32_t) ((((int64_t) (lever_1_2) * (int64_t) (h_linear_1_0)) >> 31));  int32_t _tmp145 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (h_linear_1_2)) >> 31));  int32_t h_angular_1_1_1 = (_tmp144 - _tmp145);  int32_t _tmp146 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (h_linear_1_1)) >> 31));  int32_t _tmp147 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (h_linear_1_0)) >> 31));  int32_t h_angular_1_1_2 = (_tmp146 - _tmp147);  int32_t h_angular_1_0 = (h_angular_first_1_0 + h_angular_1_1_0);  int32_t h_angular_1_1 = (h_angular_first_1_1 + h_angular_1_1_1);  int32_t h_angular_1_2 = (h_angular_first_1_2 + h_angular_1_1_2);  int32_t _tmp148 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (r_35_act_inv_angular_1_1)) >> 26));  int32_t _tmp149 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t f_linear_1_1_0 = (_tmp148 - _tmp149);  int32_t _tmp150 = (int32_t) ((((int64_t) (lever_1_2) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t _tmp151 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (r_35_act_inv_angular_1_2)) >> 28));  int32_t f_linear_1_1_1 = (_tmp150 - _tmp151);  int32_t _tmp152 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (r_35_act_inv_angular_1_1)) >> 26));  int32_t _tmp153 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t f_linear_1_1_2 = (_tmp152 - _tmp153);  int32_t f_linear_2_1_0 = (r_33_act_inv_linear_1_0 - (f_linear_1_1_0 >> 4));  int32_t f_linear_2_1_1 = (r_33_act_inv_linear_1_1 - (f_linear_1_1_1 >> 4));  int32_t f_linear_2_1_2 = (r_33_act_inv_linear_1_2 - f_linear_1_1_2);  int32_t f_linear_3_1_0 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (f_linear_2_1_0)) >> 30));  int32_t f_linear_3_1_1 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (f_linear_2_1_1)) >> 30));  int32_t f_linear_3_1_2 = (int32_t) ((((int64_t) (masses_1) * (int64_t) (f_linear_2_1_2)) >> 31));  int32_t r_45_ = (int32_t) ((((int64_t) (inertia_1_0_0) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t r_46_ = (int32_t) ((((int64_t) (inertia_1_0_1) * (int64_t) (r_35_act_inv_angular_1_1)) >> 26));  int32_t r_47_ = (int32_t) ((((int64_t) (inertia_1_0_2) * (int64_t) (r_35_act_inv_angular_1_2)) >> 28));  int32_t r_48_ = (int32_t) ((((int64_t) (inertia_1_0_1) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t r_49_ = (int32_t) ((((int64_t) (inertia_1_1_1) * (int64_t) (r_35_act_inv_angular_1_1)) >> 26));  int32_t r_50_ = (int32_t) ((((int64_t) (inertia_1_1_2) * (int64_t) (r_35_act_inv_angular_1_2)) >> 28));  int32_t r_51_ = (int32_t) ((((int64_t) (inertia_1_0_2) * (int64_t) (r_35_act_inv_angular_1_0)) >> 26));  int32_t r_52_ = (int32_t) ((((int64_t) (inertia_1_1_2) * (int64_t) (r_35_act_inv_angular_1_1)) >> 26));  int32_t r_53_ = (int32_t) ((((int64_t) (inertia_1_2_2) * (int64_t) (r_35_act_inv_angular_1_2)) >> 28));  int32_t r_54_rhsMult1_temp_1 = (r_45_ + r_46_);  int32_t r_55_rhsMult1_1 = (r_54_rhsMult1_temp_1 + r_47_);  int32_t r_56_rhsMult2_temp_1 = (r_48_ + r_49_);  int32_t r_57_rhsMult2_1 = (r_56_rhsMult2_temp_1 + r_50_);  int32_t r_58_rhsMult3_temp_1 = (r_51_ + r_52_);  int32_t r_59_rhsMult3_1 = (r_58_rhsMult3_temp_1 + r_53_);  int32_t r_60_rhsMult_1_0 = r_55_rhsMult1_1;  int32_t r_60_rhsMult_1_1 = r_57_rhsMult2_1;  int32_t r_60_rhsMult_1_2 = r_59_rhsMult3_1;  int32_t f_angular_first_1_0 = r_60_rhsMult_1_0;  int32_t f_angular_first_1_1 = r_60_rhsMult_1_1;  int32_t f_angular_first_1_2 = r_60_rhsMult_1_2;  int32_t _tmp154 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (f_linear_3_1_1)) >> 28));  int32_t _tmp155 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (f_linear_3_1_0)) >> 28));  int32_t f_angular_1_1_0 = (_tmp154 - _tmp155);  int32_t _tmp156 = (int32_t) ((((int64_t) (lever_1_2) * (int64_t) (f_linear_3_1_0)) >> 28));  int32_t _tmp157 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (f_linear_3_1_2)) >> 31));  int32_t f_angular_1_1_1 = (_tmp156 - _tmp157);  int32_t _tmp158 = (int32_t) ((((int64_t) (lever_1_0) * (int64_t) (f_linear_3_1_1)) >> 28));  int32_t _tmp159 = (int32_t) ((((int64_t) (lever_1_1) * (int64_t) (f_linear_3_1_0)) >> 28));  int32_t f_angular_1_1_2 = (_tmp158 - _tmp159);  int32_t f_angular_2_1_0 = (f_angular_first_1_0 + f_angular_1_1_0);  int32_t f_angular_2_1_1 = (f_angular_first_1_1 + f_angular_1_1_1);  int32_t f_angular_2_1_2 = (f_angular_first_1_2 + f_angular_1_1_2);  int32_t _tmp160 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_linear_1_1)) >> 28));  int32_t _tmp161 = (int32_t) ((((int64_t) (act_inv_angular_1_1) * (int64_t) (h_linear_1_0)) >> 28));  int32_t f_linear_4_temp_1_0 = (_tmp160 - _tmp161);  int32_t _tmp162 = (int32_t) ((((int64_t) (act_inv_angular_1_2) * (int64_t) (h_linear_1_0)) >> 28));  int32_t _tmp163 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_linear_1_2)) >> 28));  int32_t f_linear_4_temp_1_1 = ((_tmp162 - _tmp163) >> 1);  int32_t _tmp164 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_linear_1_1)) >> 28));  int32_t _tmp165 = (int32_t) ((((int64_t) (act_inv_angular_1_1) * (int64_t) (h_linear_1_0)) >> 28));  int32_t f_linear_4_temp_1_2 = (_tmp164 - _tmp165);  int32_t f_linear_4_1_0 = (f_linear_3_1_0 + (f_linear_4_temp_1_0 >> 3));  int32_t f_linear_4_1_1 = (f_linear_3_1_1 + (f_linear_4_temp_1_1 >> 2));  int32_t f_linear_4_1_2 = ((f_linear_3_1_2 + f_linear_4_temp_1_2) >> 1);  int32_t _tmp166 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_angular_first_1_1)) >> 28));  int32_t _tmp167 = (int32_t) ((((int64_t) (act_inv_angular_1_1) * (int64_t) (h_angular_first_1_0)) >> 28));  int32_t f_angular_3_temp_1_0 = ((_tmp166 - _tmp167) >> 1);  int32_t _tmp168 = (int32_t) ((((int64_t) (act_inv_angular_1_2) * (int64_t) (h_angular_first_1_0)) >> 28));  int32_t _tmp169 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_angular_first_1_2)) >> 28));  int32_t f_angular_3_temp_1_1 = ((_tmp168 - _tmp169) >> 1);  int32_t _tmp170 = (int32_t) ((((int64_t) (act_inv_angular_1_0) * (int64_t) (h_angular_first_1_1)) >> 28));  int32_t _tmp171 = (int32_t) ((((int64_t) (act_inv_angular_1_1) * (int64_t) (h_angular_first_1_0)) >> 28));  int32_t f_angular_3_temp_1_2 = ((_tmp170 - _tmp171) >> 1);  int32_t f_angular_3_1_0 = (((f_angular_2_1_0 >> 1) + f_angular_3_temp_1_0) >> 1);  int32_t f_angular_3_1_1 = (((f_angular_2_1_1 >> 1) + f_angular_3_temp_1_1) >> 1);  int32_t f_angular_3_1_2 = (((f_angular_2_1_2 >> 1) + f_angular_3_temp_1_2) >> 1);  int32_t _tmp172 = (int32_t) ((((int64_t) (act_inv_linear_1_0) * (int64_t) (h_linear_1_1)) >> 31));  int32_t _tmp173 = (int32_t) ((((int64_t) (act_inv_linear_1_1) * (int64_t) (h_linear_1_0)) >> 31));  int32_t f_angular_4_temp_1_0 = (_tmp172 - _tmp173);  int32_t _tmp174 = (int32_t) ((((int64_t) (act_inv_linear_1_2) * (int64_t) (h_linear_1_0)) >> 31));  int32_t _tmp175 = (int32_t) ((((int64_t) (act_inv_linear_1_0) * (int64_t) (h_linear_1_2)) >> 31));  int32_t f_angular_4_temp_1_1 = (_tmp174 - _tmp175);  int32_t _tmp176 = (int32_t) ((((int64_t) (act_inv_linear_1_0) * (int64_t) (h_linear_1_1)) >> 31));  int32_t _tmp177 = (int32_t) ((((int64_t) (act_inv_linear_1_1) * (int64_t) (h_linear_1_0)) >> 31));  int32_t f_angular_4_temp_1_2 = (_tmp176 - _tmp177);  int32_t f_angular_4_1_0 = (f_angular_3_1_0 + (f_angular_4_temp_1_0 >> 2));  int32_t f_angular_4_1_1 = (f_angular_3_1_1 + (f_angular_4_temp_1_1 >> 2));  int32_t f_angular_4_1_2 = (f_angular_3_1_2 + (f_angular_4_temp_1_2 >> 2));  int32_t h_rnea_firstpass1_0 = h_linear_1_0;  int32_t h_rnea_firstpass1_1 = h_linear_1_1;  int32_t h_rnea_firstpass1_2 = h_linear_1_2;  int32_t h_rnea_firstpass1_3 = h_angular_1_0;  int32_t h_rnea_firstpass1_4 = h_angular_1_1;  int32_t h_rnea_firstpass1_5 = h_angular_1_2;  int32_t f_rnea_firstpass1_0 = f_linear_4_1_0;  int32_t f_rnea_firstpass1_1 = f_linear_4_1_1;  int32_t f_rnea_firstpass1_2 = f_linear_4_1_2;  int32_t f_rnea_firstpass1_3 = f_angular_4_1_0;  int32_t f_rnea_firstpass1_4 = f_angular_4_1_1;  int32_t f_rnea_firstpass1_5 = f_angular_4_1_2;  int32_t r_61_new_v_1_0 = act_inv_linear_1_0;  int32_t r_61_new_v_1_1 = act_inv_linear_1_1;  int32_t r_61_new_v_1_2 = act_inv_linear_1_2;  int32_t r_61_new_v_1_3 = act_inv_angular_1_0;  int32_t r_61_new_v_1_4 = act_inv_angular_1_1;  int32_t r_61_new_v_1_5 = act_inv_angular_1_2;  int32_t rotation_matrix_2_0_0 = qcos_2;  int32_t rotation_matrix_2_0_1 = -(qsin_2);  int32_t rotation_matrix_2_0_2 = 0;  int32_t rotation_matrix_2_1_0 = qsin_2;  int32_t rotation_matrix_2_1_1 = qcos_2;  int32_t rotation_matrix_2_1_2 = 0;  int32_t rotation_matrix_2_2_0 = 0;  int32_t rotation_matrix_2_2_1 = 0;  int32_t rotation_matrix_2_2_2 = 1073741824;  int32_t limi_rotation_2_0_0 = rotation_matrix_2_0_0;  int32_t limi_rotation_2_0_1 = rotation_matrix_2_0_1;  int32_t limi_rotation_2_0_2 = 0;  int32_t limi_rotation_2_1_0 = 0;  int32_t limi_rotation_2_1_1 = 0;  int32_t limi_rotation_2_1_2 = -1073741825;  int32_t limi_rotation_2_2_0 = rotation_matrix_2_1_0;  int32_t limi_rotation_2_2_1 = rotation_matrix_2_1_1;  int32_t limi_rotation_2_2_2 = 0;  int32_t v_linear_2_0 = data_v_2_0;  int32_t v_linear_2_1 = data_v_2_1;  int32_t v_linear_2_2 = data_v_2_2;  int32_t v_angular_2_0 = data_v_2_3;  int32_t v_angular_2_1 = data_v_2_4;  int32_t v_angular_2_2 = v_2;  int32_t parent_v_linear_2_0 = r_61_new_v_1_0;  int32_t parent_v_linear_2_1 = r_61_new_v_1_1;  int32_t parent_v_linear_2_2 = r_61_new_v_1_2;  int32_t parent_v_angular_2_0 = r_61_new_v_1_3;  int32_t parent_v_angular_2_1 = r_61_new_v_1_4;  int32_t parent_v_angular_2_2 = r_61_new_v_1_5;  int32_t parent_a_gf_linear_2_0 = new_a_gf_up3_1_0;  int32_t parent_a_gf_linear_2_1 = new_a_gf_up3_1_1;  int32_t parent_a_gf_linear_2_2 = new_a_gf_up3_1_2;  int32_t parent_a_gf_angular_2_0 = new_a_gf_up3_1_3;  int32_t parent_a_gf_angular_2_1 = new_a_gf_up3_1_4;  int32_t parent_a_gf_angular_2_2 = new_a_gf_up3_1_5;  int32_t _tmp178 = (int32_t) ((((int64_t) (limi_translation_2_0) * (int64_t) (parent_v_angular_2_1)) >> 28));  int32_t _tmp179 = (int32_t) ((((int64_t) (limi_translation_2_1) * (int64_t) (parent_v_angular_2_0)) >> 29));  int32_t actInv1_2_0 = ((_tmp178 >> 1) - _tmp179);  int32_t _tmp180 = (int32_t) ((((int64_t) (limi_translation_2_2) * (int64_t) (parent_v_angular_2_0)) >> 28));  int32_t _tmp181 = (int32_t) ((((int64_t) (limi_translation_2_0) * (int64_t) (parent_v_angular_2_2)) >> 28));  int32_t actInv1_2_1 = (_tmp180 - _tmp181);  int32_t _tmp182 = (int32_t) ((((int64_t) (limi_translation_2_0) * (int64_t) (parent_v_angular_2_1)) >> 28));  int32_t _tmp183 = (int32_t) ((((int64_t) (limi_translation_2_1) * (int64_t) (parent_v_angular_2_0)) >> 29));  int32_t actInv1_2_2 = ((_tmp182 >> 1) - _tmp183);  int32_t actInv2_2_0 = ((parent_v_linear_2_0 >> 1) - actInv1_2_0);  int32_t actInv2_2_1 = (parent_v_linear_2_1 - actInv1_2_1);  int32_t actInv2_2_2 = ((parent_v_linear_2_2 >> 1) - actInv1_2_2);  int32_t actInv3_2_0_0 = limi_rotation_2_0_0;  int32_t actInv3_2_1_0 = limi_rotation_2_0_1;  int32_t actInv3_2_2_0 = limi_rotation_2_0_2;  int32_t actInv3_2_0_1 = limi_rotation_2_1_0;  int32_t actInv3_2_1_1 = limi_rotation_2_1_1;  int32_t actInv3_2_2_1 = limi_rotation_2_1_2;  int32_t actInv3_2_0_2 = limi_rotation_2_2_0;  int32_t actInv3_2_1_2 = limi_rotation_2_2_1;  int32_t actInv3_2_2_2 = limi_rotation_2_2_2;  int32_t _tmp184 = (int32_t) ((((int64_t) (actInv3_2_0_0) * (int64_t) (actInv2_2_0)) >> 30));  int32_t _tmp185 = (int32_t) ((((int64_t) (actInv3_2_0_1) * (int64_t) (actInv2_2_1)) >> 31));  int32_t _tmp186 = (_tmp184 + (_tmp185 >> 1));  int32_t _tmp187 = (int32_t) ((((int64_t) (actInv3_2_0_2) * (int64_t) (actInv2_2_2)) >> 30));  int32_t actInv4_2_0 = ((_tmp186 + _tmp187) >> 1);  int32_t _tmp188 = (int32_t) ((((int64_t) (actInv3_2_1_0) * (int64_t) (actInv2_2_0)) >> 30));  int32_t _tmp189 = (int32_t) ((((int64_t) (actInv3_2_1_1) * (int64_t) (actInv2_2_1)) >> 31));  int32_t _tmp190 = (_tmp188 + (_tmp189 >> 1));  int32_t _tmp191 = (int32_t) ((((int64_t) (actInv3_2_1_2) * (int64_t) (actInv2_2_2)) >> 30));  int32_t actInv4_2_1 = ((_tmp190 + _tmp191) >> 1);  int32_t _tmp192 = (int32_t) ((((int64_t) (actInv3_2_2_0) * (int64_t) (actInv2_2_0)) >> 30));  int32_t _tmp193 = (int32_t) ((((int64_t) (actInv3_2_2_1) * (int64_t) (actInv2_2_1)) >> 30));  int32_t _tmp194 = (_tmp192 + _tmp193);  int32_t _tmp195 = (int32_t) ((((int64_t) (actInv3_2_2_2) * (int64_t) (actInv2_2_2)) >> 30));  int32_t actInv4_2_2 = (_tmp194 + _tmp195);  int32_t act_inv_linear_2_0 = ((v_linear_2_0 >> 2) + actInv4_2_0);  int32_t act_inv_linear_2_1 = ((v_linear_2_1 >> 2) + actInv4_2_1);  int32_t act_inv_linear_2_2 = (v_linear_2_2 + actInv4_2_2);  int32_t _tmp196 = (int32_t) ((((int64_t) (actInv3_2_0_0) * (int64_t) (parent_v_angular_2_0)) >> 30));  int32_t _tmp197 = (int32_t) ((((int64_t) (actInv3_2_0_1) * (int64_t) (parent_v_angular_2_1)) >> 28));  int32_t _tmp198 = (_tmp196 + (_tmp197 >> 3));  int32_t _tmp199 = (int32_t) ((((int64_t) (actInv3_2_0_2) * (int64_t) (parent_v_angular_2_2)) >> 30));....  int32_t _tmp730 = (int32_t) ((((int64_t) (limi_rotation_1_1_0) * (int64_t) (f_angular_1_0)) >> 14));  int32_t _tmp731 = (int32_t) ((((int64_t) (limi_rotation_1_1_1) * (int64_t) (f_angular_1_1)) >> 15));  int32_t _tmp732 = (_tmp730 + _tmp731);  int32_t _tmp733 = (int32_t) ((((int64_t) (limi_rotation_1_1_2) * (int64_t) (f_angular_1_2)) >> 30));  int32_t new_f_angular_temp_1_1 = ((_tmp732 >> 17) + _tmp733);  int32_t _tmp734 = (int32_t) ((((int64_t) (limi_rotation_1_2_0) * (int64_t) (f_angular_1_0)) >> 30));  int32_t _tmp735 = (int32_t) ((((int64_t) (limi_rotation_1_2_1) * (int64_t) (f_angular_1_1)) >> 30));  int32_t _tmp736 = ((_tmp734 + (_tmp735 >> 1)) >> 1);  int32_t _tmp737 = (int32_t) ((((int64_t) (limi_rotation_1_2_2) * (int64_t) (f_angular_1_2)) >> 14));  int32_t new_f_angular_temp_1_2 = (_tmp736 + (_tmp737 >> 18));  int32_t _tmp738 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (new_f_linear_1_1)) >> 14));  int32_t _tmp739 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (new_f_linear_1_0)) >> 13));  int32_t f_angular_cross_1_0 = (_tmp738 - _tmp739);  int32_t _tmp740 = (int32_t) ((((int64_t) (limi_translation_1_2) * (int64_t) (new_f_linear_1_0)) >> 13));  int32_t _tmp741 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (new_f_linear_1_2)) >> 13));  int32_t f_angular_cross_1_1 = (_tmp740 - _tmp741);  int32_t _tmp742 = (int32_t) ((((int64_t) (limi_translation_1_0) * (int64_t) (new_f_linear_1_1)) >> 14));  int32_t _tmp743 = (int32_t) ((((int64_t) (limi_translation_1_1) * (int64_t) (new_f_linear_1_0)) >> 13));  int32_t f_angular_cross_1_2 = (_tmp742 - _tmp743);  int32_t new_f_angular_1_0 = (new_f_angular_temp_1_0 + (f_angular_cross_1_0 >> 18));  int32_t new_f_angular_1_1 = (new_f_angular_temp_1_1 + (f_angular_cross_1_1 >> 17));  int32_t new_f_angular_1_2 = (new_f_angular_temp_1_2 + (f_angular_cross_1_2 >> 18));  int32_t r_204_new_f_1_0 = new_f_linear_1_0;  int32_t r_204_new_f_1_1 = new_f_linear_1_1;  int32_t r_204_new_f_1_2 = new_f_linear_1_2;  int32_t r_204_new_f_1_3 = new_f_angular_1_0;  int32_t r_204_new_f_1_4 = new_f_angular_1_1;  int32_t r_204_new_f_1_5 = new_f_angular_1_2;  int32_t new_data_f_parent_1_0 = ((f_rnea_firstpass0_0 >> 18) + r_204_new_f_1_0);  int32_t new_data_f_parent_1_1 = ((f_rnea_firstpass0_1 >> 17) + r_204_new_f_1_1);  int32_t new_data_f_parent_1_2 = ((f_rnea_firstpass0_2 >> 12) + r_204_new_f_1_2);  int32_t new_data_f_parent_1_3 = ((f_rnea_firstpass0_3 >> 18) + r_204_new_f_1_3);  int32_t new_data_f_parent_1_4 = ((f_rnea_firstpass0_4 >> 17) + r_204_new_f_1_4);  int32_t new_data_f_parent_1_5 = ((f_rnea_firstpass0_5 >> 18) + r_204_new_f_1_5);  int32_t data_tau_temp_0 = new_data_f_parent_1_5;  int32_t data_tau_0 = data_tau_temp_0;  int32_t data_tau_1 = data_tau_temp_1;  int32_t data_tau_2 = data_tau_temp_2;  int32_t data_tau_3 = data_tau_temp_3;  int32_t data_tau_4 = data_tau_temp_4;  int32_t data_tau_5 = data_tau_temp_5;  return {data_tau_0, data_tau_1, data_tau_2, data_tau_3, data_tau_4, data_tau_5};}