NO inv00invsxpinvxinvpxsinvxminusx0xminusxpysminusxyminusxsypminusxyminus0xinvxminussxsyminusxyminuspxpyminusxyinvxminus0xspxxpsxx2.1minuspx1py2minuspxpyminusxyminusx1y2minuspx1py2minusxpysminusxysminuspx1y2Hakusan0.10