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typedef double Mat33[3][3];
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PTools::Coord3D axetranslation; //vecteur unitaire directeur de l'axe de translation
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PTools::Coord3D point; //un point de l'axe de rotation
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dbl normtranslation; // scalar. t = normtranslation.axetranslation
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// dbl matrot[3][3]; // variable a conserver ?
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std::cout << "------ <vissage> --------" << std::endl ;
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std::cout << "axe translation: " ;
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std::cout << axetranslation.toString();
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std::cout << "angle: " << angle <<" norme translation:" << normtranslation << std::endl ;
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std::cout << "vecteur translation (recalc): " << (normtranslation*axetranslation).toString() << std::endl;
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std::cout << "point axe: " << point.toString();
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// std::cout << "matrice: " << std::endl;
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std::cout << "####### </vissage> #######" << std::endl ;
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// friend Vissage superpose_sippl(const Rigidbody& ref, const Rigidbody& mob, int verbosity);
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friend Vissage MatTrans2screw(const Matrix& mat);