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Mathematics of the graphical kind

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The intricacies of 3d graphics maths are not my strong point and it's something I'm looking to improve upon. I was thinking about rendering geometry conforming decals using a pixel shader on a separate pass and then blending the colour buffer with the decal buffer to produce the final image. Now I was wondering how, given the decals centre position, its normal and a texture to use (could be optional, the decal could simply be coloured), to project it on the geometry being rendered. I think it has something to do with transforming the centre position into texture space and doing some texture lookups but I'm not sure. Could someone please explain it to me? Many thanks.

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