;************************************************************************
;* [CMFAO] AME 6602 ACQUISITION DES DONNÉES SPATIALES
*
;* [GRCAO] Claude Parisel
*
;* Mars 1999
*
;************************************************************************
; MAT-ROTZ
; Construction d'une matrice de rotation autour de OZ
;------------------------------------------------------------------------
; ANG Angle de rotation en degrés
; A Angle de rotation en radian
;------------------------------------------------------------------------
; RETOUR:Matrice de rotation autour de OZ
;------------------------------------------------------------------------
(defun mat-rotz (ang)
(setq a (deg2rad ang))
(cond
(
(= ang 90)
(setq cosa 0.0 sina 1.0)
)
(
(= ang 180)
(setq cosa (- 1) sina 0.0)
)
(
(= ang 270)
(setq cosa 0.0 sina (- 1.0))
)
(T
(setq cosa (cos a))
(setq sina (sin a))
)
)
;RETOUR: Matrice de rotation autour de OZ
(list
(list cosa sina 0.0 0.0)
(list (- sina) cosa 0.0 0.0)
(list 0.0 0.0
1.0 0.0)
(list 0.0 0.0
0.0 1.0)
)
)
;--------------------------------------------------------------------
;
Exemple:
; Command: (mat-rotz 30)
; ((0.866025 0.5
0.0 0.0) (-0.5 0.866025 0.0 0.0) (0.0 0.0 1.0 0.0)
; (0.0 0.0 0.0
1.0))
;--------------------------------------------------------------------
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