Hi,
Right now I'm brute force scripting to calculate rotation matrices with the following code. I was wondering if there is more efficient way of doing this with the matrix functions in diadem? As you can see I'm calculating each individual value in the channel. It would be a lot quciker if I could do the same thing at the channel level.
Thanx,
Bill.
'create displacement component vectors
VectI1(0,0)=dblI1:VectI1(1,0)=0:VectI1(2,0)=0
VectI2(0,0)=dblI2:VectI2(1,0)=0:VectI2(2,0)=0
VectIa(0,0)=0 :VectIa(1,0)=0:VectIa(2,0)=dblIa
VectIb(0,0)=0 :VectIb(1,0)=0:VectIb(2,0)=dblIb
dim DisplacementVector
'transform components into cartesian vectors
for inti=1 to cl(intBase)
Rot1Rad=ConvertUnits(dblCalBase*(chd(inti,intBase)-dblSetBase),chndim(intBase),"rad",false)
Rot1Matrix(0, 0) = Cos(Rot1Rad) :Rot1Matrix(0, 1) = 0 :Rot1Matrix(0, 2) = Sin(Rot1Rad)
Rot1Matrix(1, 0) = 0 :Rot1Matrix(1, 1) = 1 :Rot1Matrix(1, 2) = 0
Rot1Matrix(2, 0) = -Sin(Rot1Rad):Rot1Matrix(2, 1) = 0 :Rot1Matrix(2, 2) = Cos(Rot1Rad)
Rot2Rad=ConvertUnits(dblCalMiddle*(chd(inti,intMiddle)-dblSetMiddle),chndim(intMiddle),"rad",false)
Rot2Matrix(0, 0) = Cos(Rot2Rad) :Rot2Matrix(0, 1) =-Sin(Rot2Rad):Rot2Matrix(0, 2) = 0
Rot2Matrix(1, 0) = Sin(Rot2Rad) :Rot2Matrix(1, 1) = Cos(Rot2Rad):Rot2Matrix(1, 2) = 0
Rot2Matrix(2, 0) = 0 :Rot2Matrix(2, 1) = 0 :Rot2Matrix(2, 2) = 1
Rot3Rad=ConvertUnits(dblCalElbow*(chd(inti,intElbow)-dblSetElbow),chndim(intElbow),"rad",false)
Rot3Matrix(0, 0) = Cos(Rot3Rad) :Rot3Matrix(0, 1) =-Sin(Rot3Rad):Rot3Matrix(0, 2) = 0
Rot3Matrix(1, 0) = Sin(Rot3Rad) :Rot3Matrix(1, 1) = Cos(Rot3Rad):Rot3Matrix(1, 2) = 0
Rot3Matrix(2, 0) = 0 :Rot3Matrix(2, 1) = 0 :Rot3Matrix(2, 2) = 1
'=R1(Ia+R2(I1+(Ib+R3*I2)))
DisplacementVector = MatMultiply(Rot1Matrix, MatAddition(VectIa, MatMultiply(Rot2Matrix, MatAddition(VectI1, MatAddition(VectIb, MatMultiply(Rot3Matrix, VectI2))))))
Select case mid(chnname(intBase),7,2)
case "LL"
chd(inti,intX)=DisplacementVector(0,0)
chd(inti,intY)=DisplacementVector(2,0)
chd(inti,intZ)=-DisplacementVector(1,0)
case "RL"
chd(inti,intX)=DisplacementVector(0,0)
chd(inti,intY)=-DisplacementVector(2,0)
chd(inti,intZ)=DisplacementVector(1,0)
case else
chd(inti,intX)=DisplacementVector(0,0)
chd(inti,intY)=DisplacementVector(1,0)
chd(inti,intZ)=DisplacementVector(2,0)
end select
next
