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- c = (-y, x)
- d = ( y,-x)
- // normal
- nx = Px-Cx
- ny = Py-Cy
- // tangent 1
- tx = -ny
- ty = +nx
- // tangent 2
- tx = +ny
- ty = -nx
- // normal
- nx = (Px-Cx)/a
- ny = (Py-Cy)/a
- // tangent 1
- tx = -ny
- ty = +nx
- // tangent 2
- tx = +ny
- ty = -nx
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