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Jun 20th, 2019
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  1. v * Mc * Mp
  2.  
  3. |v0 v1 v2 1 | * | .. .. .. 0 | | .. .. .. 0 |
  4. | .. .. .. 0 | * | .. .. .. 0 |
  5. | .. .. .. 0 | | .. .. .. 0 |
  6. | ox oy oz 1 | | tx ty tz 1 |
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