PRINT
PRINT "３次元空間での任意軸回転"
PRINT
DIM JJ(3),PP(3)
MAT INPUT PROMPT "軸となるベクトル？  a,b,c =   ":JJ
MAT INPUT PROMPT "回転前の点？  x,y,z =   ":PP
INPUT PROMPT "回転角？(度）  ":D
PRINT
LET oo=SQR(JJ(1)^2+JJ(2)^2+JJ(3)^2)
LET jx=JJ(1)/oo
LET jy=JJ(2)/oo
LET jz=JJ(3)/oo
LET x=PP(1)
LET y=PP(2)
LET z=PP(3)
LET R=RAD(D)  !度→ラジアン

LET X1=(COS(R)+(1-COS(R))*jx*jx)*x
LET X2=((1-COS(R))*jx*jy-SIN(R)*jz)*y
LET X3=((1-COS(R))*jx*jz+SIN(R)*jy)*z
LET XX=X1+X2+X3
LET Y1=((1-COS(R))*jy*jx+SIN(R)*jz)*x
LET Y2=(COS(R)+(1-COS(R))*jy*jy)*y
LET Y3=((1-COS(R))*jy*jz-SIN(R)*jx)*z
LET YY=Y1+Y2+Y3
LET Z1=((1-COS(R))*jz*jx-SIN(R)*jy)*x
LET Z2=((1-COS(R))*jz*jy+SIN(R)*jx)*y
LET Z3=(COS(R)+(1-COS(R))*jz*jz)*z
LET ZZ=Z1+Z2+Z3

PRINT "回転後"
PRINT "   χ座標値：";ROUND(XX,2)
PRINT "   ｙ座標値：";ROUND(YY,2)
PRINT "   ｚ座標値：";ROUND(ZZ,2)
PRINT
END