MAL.Orientation

ref_arr_out = MAL.Orientation( BYREF arr_out        AS ARRAY,

                               BYREF TM_in          AS ARRAY,

                              [BYVAL nUnits         AS INTEGER=ML_DEGREES] ) AS REFERENCE

ref_arr_out = MAL.Orientation( BYREF arr_out        AS ARRAY,

                               BYREF point1         AS ARRAY,

                               BYREF point2         AS ARRAY,

                               BYREF point3         AS ARRAY,

                              [BYVAL nAxis1         AS INTEGER=ML_AXIS_X],

                              [BYVAL nAxis2         AS INTEGER=ML_AXIS_Y],

                              [BYVAL nUnits         AS INTEGER=ML_DEGREES],

                              [BYVAL nPoint         AS INTEGER=1],

                              [BYVAL nFrameOffset   AS INTEGER=0] ) AS REFERENCE

ref_arr_out = MAL.Orientation( BYREF arr_out        AS ARRAY,

                               BYREF arr_in         AS ARRAY,

                               BYVAL point1         AS INTEGER,

                               BYVAL point2         AS INTEGER,

                               BYVAL point3         AS INTEGER,

                              [BYVAL nAxis1         AS INTEGER=ML_AXIS_X],

                              [BYVAL nAxis2         AS INTEGER=ML_AXIS_Y],

                              [BYVAL nUnits         AS INTEGER=ML_DEGREES],

                              [BYVAL nFrameOffset   AS INTEGER=0] ) AS REFERENCE

Calculates the orientation angles of a 3x3 rotation matrix or by using 3 points and the 2 coordinate axis they define.  The output is a 3D array with the rotation around X axis in first dimension, rotation around Y axis in second and rotation around Z in third.

Example:

OPTION EXPLICIT ON

OPTION REDIM ON

OPTION BASE 1

' Include C3D Support

$INCLUDE "MyBASIC2_C3DFile"

$LIBRARY "MyBASIC2_C3DFileLib"

' Include the MaxMAL Library

$INCLUDE "MyBASIC2_MaxMAL"

$LIBRARY "MyBASIC2_MaxMALLib"

' Forward Declare PrintArray and DisplayVersion

DECLARE SUB PrintArray

' Declare variables and arrays

DIM nPoints AS INTEGER

DIM nFrames AS INTEGER

DIM hFile   AS INTEGER

' Open the Test File

hFile = C3DFile.Open( "e:\Rot3.c3d" )

IF NOT hFile > 0 THEN

  PRINT "Error Opening File ";cFileName,

  STOP

ENDIF

' Get the no of points and frames

nFrames = C3DFile.GetNoOfFrames( hFile )

nPoints = C3DFile.GetNoOfPoints( hFile )

' Dimension the arrays

DIM Position(nFrames,nPoints,3)    AS REAL

' Get the Point Coordinates from C3D file

IF C3DFile.GetPoints( hFile, Position ) <> nFrames THEN

  C3DFile.Close( hFile )

  PRINT "Error Reading ";nPoints;" from file ";cFileName,

  STOP

ENDIF

' Set the Frame Rate to use in the MaxMAL Library

MAL.FrameRate( C3DFile.GetFrameRate( hFile ) )

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Testing CreateTM and Orientation

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

'

DIM TM( nFrames, 3, 3 ) AS REAL

MAL.CreateTM( TM, Position, 1, 2, 3 )

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Get the Orientation in Radians

'

CALL PrintArray( MAL.Orientation( NULL, TM, ML_RADIANS ) )

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Test Second Syntax

'

DIM rot( nFrames, 1, 3 ) AS REAL

MAL.Orientation( rot, V3D( Position, 1 ),_

                     V3D( Position, 2 ),_

                     V3D( Position, 3 ) )

CALL PrintArray( REF( rot ) )

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Test Third Syntax using as reference as output

'

DIM r AS REFERENCE

r = MAL.Orientation( NULL, Position, 1, 2, 3 ) )

CALL PrintArray( r )

UNREF r

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Close File

'

C3DFile.Close( hFile )

END

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''

' Print an array with up to 3 dimensions.  Array is passed as a reference

'

SUB PrintArray( arr AS REFERENCE )

  RUN( "ArrayPlot",  arr, TRUE )

END SUB