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ae863f34df870af416b4728e65d4b6eef93a4d30
It might be confusing why matrix is constructed from scratch rather than using already calculated one.
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Blender
Blender is the free and open source 3D creation suite. It supports the entirety of the 3D pipeline-modeling, rigging, animation, simulation, rendering, compositing, motion tracking and video editing.
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