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Global reference frame
The global coordinate system \(O(\vec{e_1},\vec{e_2},\vec{e_3})\) is as follows:
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The point \(O(0,0,0)\) is on the mean free surface,
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the vector \(\vec{e_1}\) defines the \(X\) coordinate,
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the vector \(\vec{e_2}\) defines the \(Y\) coordinate,
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the vector \(\vec{e_3}\) defines the \(Z\) coordinate and is upward.
