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- c = cos
- s = sin
- a = angle
- p = pitch
- [[ca -sa 0] [[ cp 0 sp]
- [sa ca 0] * [ 0 1 0]
- [0 0 1]] [-sp 0 cp]]
- [[A B C]
- = [D E F]
- [G H I]]
- A = (ca)(cp) + (-sa)(0) + (0)(-sp)
- B = (ca)(0) + (-sa)(1) + (0)(0)
- C = (ca)(sp) + (-sa)(0) + (0)(cp)
- D = (sa)(cp) + (ca)(0) + (0)(-sp)
- E = (sa)(0) + (ca)(1) + (0)(0)
- F = (sa)(sp) + (ca)(0) + (0)(cp)
- G = (0)(cp) + (0)(0) + (1)(-sp)
- H = (0)(0) + (0)(1) + (1)(0)
- I = (0)(sp) + (0)(0) + (1)(cp)
- A = (ca)(cp)
- B = -sa
- C = (ca)(sp)
- D = (sa)(cp)
- E = ca
- F = (sa)(sp)
- G = -sp
- H = 0
- I = cp
- [[(ca)(cp) -sa (ca)(sp)] [[x]
- [(sa)(cp) ca (sa)(sp)] * [y]
- [-sp 0 cp] ] [z]]
- [[x']
- = [y']
- [z']]
- x' = (ca)(cp)(x) + (-sa)(y) + (ca)(sp)(z)
- y' = (sa)(cp)(x) + (ca)(y) + (sa)(sp)(z)
- z' = (-sp)(x) + (cp)(z)
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