内禀坐标转换笛卡尔坐标的方法一直没找到，于是想办法把它分解成两次坐标定轴旋转变换，然后用矩阵把它pass了。
可恶的是本来昨天就做好了，结果发现矩阵是左手坐标，而我列的方程是右手坐标……改来改去一直找不到头绪，还写了两个辅助测试程序，很窝火。还好，下午搞定了～
Author: armadillo
傻傻的笨蛋，什么都不懂的Small Kids，总是在幻想，轻轻地走来，静静地站在那里，默默地看着一切，细细地思考，然后悄悄地离开……永远都不愿意留在这里……You mustn't allow yourself to be chained to fate, to be ruled by your genes. Human beings can choose the kind of life that they want to live. What's important is that you choose life... and then live.
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