sina*cosb=(sin(a+b)+sin(a-b))/2 cosa*sinb=(sin(a+b)-sin(a-b))/2 cosa*cosb=(cos(a+b)+cos(a-b))/2 sina*sinb=-(cos(a+b)-cos(a-b))/2 sinx+siny=2sin((x+y)/2)*cos((x-y)/2) sinx-siny=2cos((x+y)/2)*sin((x-y)/2) cosx+cosy=2cos((x+y)/2)*cos((x-y)/2) cos