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SUBROUTINE sla_DEULER (ORDER, PHI, THETA, PSI, RMAT)
*+
* - - - - - - -
* D E U L E R
* - - - - - - -
*
* Form a rotation matrix from the Euler angles - three successive
* rotations about specified Cartesian axes (double precision)
*
* Given:
* ORDER c*(*) specifies about which axes the rotations occur
* PHI d 1st rotation (radians)
* THETA d 2nd rotation ( " )
* PSI d 3rd rotation ( " )
*
* Returned:
* RMAT d(3,3) rotation matrix
*
* A rotation is positive when the reference frame rotates
* anticlockwise as seen looking towards the origin from the
* positive region of the specified axis.
*
* The characters of ORDER define which axes the three successive
* rotations are about. A typical value is 'ZXZ', indicating that
* RMAT is to become the direction cosine matrix corresponding to
* rotations of the reference frame through PHI radians about the
* old Z-axis, followed by THETA radians about the resulting X-axis,
* then PSI radians about the resulting Z-axis.
*
* The axis names can be any of the following, in any order or
* combination: X, Y, Z, uppercase or lowercase, 1, 2, 3. Normal
* axis labelling/numbering conventions apply; the xyz (=123)
* triad is right-handed. Thus, the 'ZXZ' example given above
* could be written 'zxz' or '313' (or even 'ZxZ' or '3xZ'). ORDER
* is terminated by length or by the first unrecognized character.
*
* Fewer than three rotations are acceptable, in which case the later
* angle arguments are ignored. If all rotations are zero, the
* identity matrix is produced.
*
* P.T.Wallace Starlink 23 May 1997
*
* Copyright (C) 1997 Rutherford Appleton Laboratory
*
* License:
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program (see SLA_CONDITIONS); if not, write to the
* Free Software Foundation, Inc., 59 Temple Place, Suite 330,
* Boston, MA 02111-1307 USA
*
*-
IMPLICIT NONE
CHARACTER*(*) ORDER
DOUBLE PRECISION PHI,THETA,PSI,RMAT(3,3)
INTEGER J,I,L,N,K
DOUBLE PRECISION RESULT(3,3),ROTN(3,3),ANGLE,S,C,W,WM(3,3)
CHARACTER AXIS
* Initialize result matrix
DO J=1,3
DO I=1,3
IF (I.NE.J) THEN
RESULT(I,J) = 0D0
ELSE
RESULT(I,J) = 1D0
END IF
END DO
END DO
* Establish length of axis string
L = LEN(ORDER)
* Look at each character of axis string until finished
DO N=1,3
IF (N.LE.L) THEN
* Initialize rotation matrix for the current rotation
DO J=1,3
DO I=1,3
IF (I.NE.J) THEN
ROTN(I,J) = 0D0
ELSE
ROTN(I,J) = 1D0
END IF
END DO
END DO
* Pick up the appropriate Euler angle and take sine & cosine
IF (N.EQ.1) THEN
ANGLE = PHI
ELSE IF (N.EQ.2) THEN
ANGLE = THETA
ELSE
ANGLE = PSI
END IF
S = SIN(ANGLE)
C = COS(ANGLE)
* Identify the axis
AXIS = ORDER(N:N)
IF (AXIS.EQ.'X'.OR.
: AXIS.EQ.'x'.OR.
: AXIS.EQ.'1') THEN
* Matrix for x-rotation
ROTN(2,2) = C
ROTN(2,3) = S
ROTN(3,2) = -S
ROTN(3,3) = C
ELSE IF (AXIS.EQ.'Y'.OR.
: AXIS.EQ.'y'.OR.
: AXIS.EQ.'2') THEN
* Matrix for y-rotation
ROTN(1,1) = C
ROTN(1,3) = -S
ROTN(3,1) = S
ROTN(3,3) = C
ELSE IF (AXIS.EQ.'Z'.OR.
: AXIS.EQ.'z'.OR.
: AXIS.EQ.'3') THEN
* Matrix for z-rotation
ROTN(1,1) = C
ROTN(1,2) = S
ROTN(2,1) = -S
ROTN(2,2) = C
ELSE
* Unrecognized character - fake end of string
L = 0
END IF
* Apply the current rotation (matrix ROTN x matrix RESULT)
DO I=1,3
DO J=1,3
W = 0D0
DO K=1,3
W = W+ROTN(I,K)*RESULT(K,J)
END DO
WM(I,J) = W
END DO
END DO
DO J=1,3
DO I=1,3
RESULT(I,J) = WM(I,J)
END DO
END DO
END IF
END DO
* Copy the result
DO J=1,3
DO I=1,3
RMAT(I,J) = RESULT(I,J)
END DO
END DO
END