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set lookat matrix in OpenGL ES 2.0

OpenGL ES 2.0 deprecate the GLU tools, we have following codes to replace the functionality of the tool gluLookAt().

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Jean Yang

Added following judgement to make sure the up vector not parallel to forward line.

    //The UP vector must not be parallel to the line of sight from the eye point to the reference point.
    if((0 == sx)&&(0 == sy)&&(0 == sz))
     return;