spherical_spherical.mac

batch("caams.mac");

p1: matrix(
    [p1_0],
    [p1_1],
    [p1_2],
    [p1_3]);

s1_p: matrix(
    [s1_px],
    [s1_py],
    [s1_pz]);

B1: 2*( G(p1).a_minus(s1_p) + s1_p.transpose(p1) );

p2: matrix(
    [p2_0],
    [p2_1],
    [p2_2],
    [p2_3]);

s2_p: matrix(
    [s2_px],
    [s2_py],
    [s2_pz]);

B2: 2*( G(p2).a_minus(s2_p) + s2_p.transpose(p2) );

r1: matrix(
    [r1x],
    [r1y],
    [r1z]);

s1: r1 + Ap(p1).s1_p;

s2: matrix(
    [s2x],
    [s2y],
    [s2z]);

d: matrix (
    [dx],
    [dy],
    [dz]);

PHI1_p: -2*transpose(d).B1;
PHI2_p:  2*transpose(d).B2;

p1_dot: matrix(
    [p1_dot_0],
    [p1_dot_1],
    [p1_dot_2],
    [p1_dot_3]);

p2_dot: matrix(
    [p2_dot_0],
    [p2_dot_1],
    [p2_dot_2],
    [p2_dot_3]);

dPHI1 : PHI1_p . p1_dot;
dPHI2 : PHI2_p . p2_dot;

GAMMA1:    diff(dPHI1,p1_0)*p1_dot_0 + diff(dPHI1,p1_1)*p1_dot_1
         + diff(dPHI1,p1_2)*p1_dot_2 + diff(dPHI1,p1_3)*p1_dot_3;

GAMMA2:    diff(dPHI2,p2_0)*p2_dot_0 + diff(dPHI2,p2_1)*p2_dot_1
         + diff(dPHI2,p2_2)*p2_dot_2 + diff(dPHI2,p2_3)*p2_dot_3;