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65 lines
1.7 KiB
65 lines
1.7 KiB
2 years ago
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C Copyright(C) 1999-2020 National Technology & Engineering Solutions
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C of Sandia, LLC (NTESS). Under the terms of Contract DE-NA0003525 with
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C NTESS, the U.S. Government retains certain rights in this software.
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C
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C See packages/seacas/LICENSE for details
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C=======================================================================
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SUBROUTINE ROTXYZ (XYZ, ANG, ROTMAT)
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C=======================================================================
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C --*** ROTXYZ *** (MESH) Multiply rotation matrix by XYZ rotation
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C -- Written by Amy Gilkey - revised 05/23/86
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C --
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C --ROTXYZ multiplies the current rotation matrix by the given X or Y
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C --or Z axis rotation. Thus the XYZ axes are in viewing space, not
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C --object space.
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C --
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C --Parameters:
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C -- XYZ - IN - the axis of rotation (X,Y,Z)
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C -- ANG - IN - the angle of rotation (in radians)
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C -- ROTMAT - IN/OUT - the rotation matrix
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CHARACTER XYZ
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REAL ROTMAT(3,3)
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REAL BY(3,3), RES(3,3)
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IF (XYZ .EQ. 'X') THEN
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N1 = 2
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N2 = 3
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N3 = 1
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ELSE IF (XYZ .EQ. 'Y') THEN
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N1 = 3
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N2 = 1
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N3 = 2
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ELSE IF (XYZ .EQ. 'Z') THEN
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N1 = 1
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N2 = 2
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N3 = 3
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END IF
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COSANG = COS (ANG)
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SINANG = SIN (ANG)
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BY(N1,N1) = COSANG
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BY(N2,N1) = -SINANG
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BY(N1,N3) = 0.0
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BY(N1,N2) = SINANG
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BY(N2,N2) = COSANG
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BY(N2,N3) = 0.0
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BY(N3,N1) = 0.0
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BY(N3,N2) = 0.0
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BY(N3,N3) = 1.0
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DO 110 I = 1, 3
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DO 100 J = 1, 3
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RES(I,J) = ROTMAT(I,1)*BY(1,J) + ROTMAT(I,2)*BY(2,J)
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& + ROTMAT(I,3)*BY(3,J)
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100 CONTINUE
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110 CONTINUE
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CALL CPYREA (3*3, RES, ROTMAT)
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RETURN
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END
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