Hi!

>Thanks and nice work, Wu.  The patch has a few issues that need correcting 
>before it could be applied, but that's a good example of patch complexity that 
>is nice to see from students proposing one of the "HARD" project ideas on our 
>list.


I have made some changes to the original patch. I use MAT3X3VEC to do the 
calculation, and I also make some changes to the transformations as well.



The patch can be seen at:
https://sourceforge.net/tracker/?func=detail&aid=3513288&group_id=105292&atid=640804#


Cheers!
Wu Jianbang
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