1 1 1000 1000 0 1 0 0 0 0 0 0 1 0.1 0.5 0.5 0.5 0 0 5 4.330 0 -2.5 -4.330 0 -2.5 20 20 20 0 5 1 -0.8660 5 -0.5 0.8660 5 -0.5