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//
// GENERATED FILE
//
use super::*;
use crate::SpiceContext;
use f2rust_std::*;
struct SaveVars {
INDEXS: StackArray<i32, 5>,
}
impl SaveInit for SaveVars {
fn new() -> Self {
let mut INDEXS = StackArray::<i32, 5>::new(1..=5);
{
use f2rust_std::data::Val;
let mut clist = [Val::I(3), Val::I(1), Val::I(2), Val::I(3), Val::I(1)].into_iter();
INDEXS
.iter_mut()
.for_each(|n| *n = clist.next().unwrap().into_i32());
debug_assert!(clist.next().is_none(), "DATA not fully initialised");
}
Self { INDEXS }
}
}
/// Generate a rotation matrix
///
/// Calculate the 3x3 rotation matrix generated by a rotation
/// of a specified angle about a specified axis. This rotation
/// is thought of as rotating the coordinate system.
///
/// # Brief I/O
///
/// ```text
/// VARIABLE I/O DESCRIPTION
/// -------- --- --------------------------------------------------
/// ANGLE I Angle of rotation (radians).
/// IAXIS I Axis of rotation (X=1, Y=2, Z=3).
/// MOUT O Resulting rotation matrix [ANGLE]
/// IAXIS
/// ```
///
/// # Detailed Input
///
/// ```text
/// ANGLE is the angle, given in radians, through which the
/// rotation is performed.
///
/// IAXIS is the index of the axis of rotation. The X, Y, and Z
/// axes have indices 1, 2 and 3 respectively.
/// ```
///
/// # Detailed Output
///
/// ```text
/// MOUT is the rotation matrix which describes the rotation of
/// a reference frame through ANGLE radians about the axis
/// whose index is IAXIS.
/// ```
///
/// # Exceptions
///
/// ```text
/// Error free.
///
/// 1) If the axis index is not in the range 1 to 3, it will be
/// treated the same as that integer 1, 2, or 3 that is congruent
/// to it mod 3.
/// ```
///
/// # Particulars
///
/// ```text
/// A rotation about the first, i.e. x-axis, is described by
///
/// .- -.
/// | 1 0 0 |
/// | 0 cos(theta) sin(theta) |
/// | 0 -sin(theta) cos(theta) |
/// `- -'
///
/// A rotation about the second, i.e. y-axis, is described by
///
/// .- -.
/// | cos(theta) 0 -sin(theta) |
/// | 0 1 0 |
/// | sin(theta) 0 cos(theta) |
/// `- -'
///
/// A rotation about the third, i.e. z-axis, is described by
///
/// .- -.
/// | cos(theta) sin(theta) 0 |
/// | -sin(theta) cos(theta) 0 |
/// | 0 0 1 |
/// `- -'
///
/// ROTATE decides which form is appropriate according to the value
/// of IAXIS.
/// ```
///
/// # Examples
///
/// ```text
/// If ROTATE is called from a FORTRAN program as follows:
///
/// CALL ROTATE (PI/4, 3, MOUT)
///
/// then MOUT will be given by
///
/// | SQRT(2)/2 SQRT(2)/2 0 |
/// MOUT = |-SQRT(2)/2 SQRT(2)/2 0 |
/// | 0 0 1 |
/// ```
///
/// # Author and Institution
///
/// ```text
/// J. Diaz del Rio (ODC Space)
/// W.M. Owen (JPL)
/// W.L. Taber (JPL)
/// ```
///
/// # Version
///
/// ```text
/// - SPICELIB Version 1.1.0, 25-MAY-2021 (JDR)
///
/// Added IMPLICIT NONE statement.
///
/// Edited the header to comply with NAIF standard.
///
/// - SPICELIB Version 1.0.1, 10-MAR-1992 (WLT)
///
/// Comment section for permuted index source lines was added
/// following the header.
///
/// - SPICELIB Version 1.0.0, 31-JAN-1990 (WMO) (WLT)
/// ```
///
/// # Revisions
///
/// ```text
/// - Beta Version 1.1.0, 03-JAN-1989 (WLT)
///
/// Upgrade the routine to work with negative axis indexes. Also take
/// care of the funky way the indices (other than the input) were
/// obtained via the MOD function. It works but isn't as clear
/// (or fast) as just reading the axes from data.
/// ```
pub fn rotate(ctx: &mut SpiceContext, angle: f64, iaxis: i32, mout: &mut [[f64; 3]; 3]) {
ROTATE(angle, iaxis, mout.as_flattened_mut(), ctx.raw_context());
}
//$Procedure ROTATE ( Generate a rotation matrix )
pub fn ROTATE(ANGLE: f64, IAXIS: i32, MOUT: &mut [f64], ctx: &mut Context) {
let save = ctx.get_vars::<SaveVars>();
let save = &mut *save.borrow_mut();
let mut MOUT = DummyArrayMut2D::new(MOUT, 1..=3, 1..=3);
let mut S: f64 = 0.0;
let mut C: f64 = 0.0;
let mut TEMP: i32 = 0;
let mut I1: i32 = 0;
let mut I2: i32 = 0;
let mut I3: i32 = 0;
//
//
//
// Get the sine and cosine of ANGLE
//
S = f64::sin(ANGLE);
C = f64::cos(ANGLE);
//
// Get indices for axes. The first index is for the axis of rotation.
// The next two axes follow in right hand order (XYZ). First get the
// non-negative value of IAXIS mod 3 .
//
TEMP = intrinsics::MOD((intrinsics::MOD(IAXIS, 3) + 3), 3);
I1 = save.INDEXS[(TEMP + 1)];
I2 = save.INDEXS[(TEMP + 2)];
I3 = save.INDEXS[(TEMP + 3)];
//
// Construct the rotation matrix
//
MOUT[[I1, I1]] = 1.0;
MOUT[[I2, I1]] = 0.0;
MOUT[[I3, I1]] = 0.0;
MOUT[[I1, I2]] = 0.0;
MOUT[[I2, I2]] = C;
MOUT[[I3, I2]] = -S;
MOUT[[I1, I3]] = 0.0;
MOUT[[I2, I3]] = S;
MOUT[[I3, I3]] = C;
//
}