mirror of
https://github.com/retro-software/B5500-software.git
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2c72f7fd1d
1. Commit library tape images, directories, and extracted text files. 2. Commit additional utilities under Unisys-Emode-Tools.
91 lines
6.6 KiB
Plaintext
91 lines
6.6 KiB
Plaintext
LABEL 0000000000XXXXXX0010000001
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$ CARD LIST
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BEGIN VRCL0001
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COMMENT VECTOR REPRESENTATION OF RIGID BODY ROTATION VRCL0002
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VRCL0003
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JAMES S. W. WONG VRCL0004
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(PROFESSIONAL SERVICES GROUP, BURROUGHS CORPORATION) VRCL0005
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VRCL0006
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CARD SEQUENCE BEGINS WITH VRCL-0001 VRCL0007
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FIRST RELEASE DATE 09-15-63 ; VRCL0008
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VRCL0009
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REAL X,Y,Z,X1,Y1,Z1,EX,EY,EZ,CT,ST,THETA,DELTAT,GAMMA,DELTAG, VRCL0010
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DP,BETA,DELTAB,NORM,MAXTHETA,LENG,PX,PY,PZ,GAMO,BETO ; VRCL0011
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VRCL0012
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INTEGER I,J,K,N,P,COUN,SW1,SW2,M ; VRCL0013
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VRCL0014
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FILE IN FIN1(1,10) ; VRCL0015
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VRCL0016
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FORMAT IN FMIN1(5I5), VRCL0017
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FMIN2(5F10.5) ; VRCL0018
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VRCL0019
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FILE OUT FOUT1(1,15) ; VRCL0020
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VRCL0021
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FORMAT OUT FMOUT1(4(X20,F10.5)) , VRCL0022
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FMOUT2(X20,"BETA",F10.5) , VRCL0023
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FMOUT3(X20,"GAMMA",F10.5) , VRCL0024
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FMOUT4(X20,"EX",F10.5,X20,"EY",F10.5,X20,"EZ",F10.5) ; VRCL0025
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VRCL0026
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LABEL L1,L2,L3,L4,L5 ; VRCL0027
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VRCL0028
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READ(FIN1,FMIN1,N,M,SW1,P,SW2) ; VRCL0029
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COUN ~ 0 ; VRCL0030
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L1: READ(FIN1,FMIN2,EX,EY,EZ,DELTAG,DELTAB) ; VRCL0031
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READ(FIN1,FMIN2,X,Y,Z,DELTAT,MAXTHETA) ; VRCL0032
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IF SW1=1 THEN GO TO L4 ; VRCL0033
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LENG ~ SQRT(X|X + Y|Y + Z|Z) ; VRCL0034
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PX ~ SQRT(Y|Y + Z|Z) ; VRCL0035
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PY ~ SQRT(X|X + Z|Z) ; VRCL0036
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PZ ~ SQRT(X|X + Y|Y) ; VRCL0037
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GAMO ~ ARCTAN(PZ/Z) ; VRCL0038
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BETO ~ ARCTAN(PY/Y) ; VRCL0039
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VRCL0040
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FOR I ~ 0 STEP 1 UNTIL N DO VRCL0041
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BEGIN VRCL0042
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GAMMA ~ I | DELTAG + GAMO ; VRCL0043
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VRCL0044
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FOR J ~ 0 STEP 1 UNTIL M DO VRCL0045
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BEGIN VRCL0046
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BETA ~ J | DELTAB + BETO ; VRCL0047
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VRCL0048
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L2: CT ~ COS(THETA) ; VRCL0049
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ST ~ SIN(THETA) ; VRCL0050
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Z ~ COS(GAMMA) ; VRCL0051
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Y ~ COS(BETA) ; VRCL0052
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X ~ SQRT(1 - Z|Z - Y|Y) ; VRCL0053
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VRCL0054
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L4: DP ~ EX|X + EY|Y + EZ|Z ; VRCL0055
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X1 ~ X|CT + (1-CT)|EX|DP + ST|(Z|EY-Y|EZ) ; VRCL0056
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Y1 ~ Y|CT + (1-CT)|EY|DP + ST|(X|EZ-Z|EX) ; VRCL00-7
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Z1 ~ Z|CT + (1-CT)|EZ|DP + ST|(Y|EX-X|EY) ; VRCL0058
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IF SW2=0 THEN GO TO L5 ; VRCL0059
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NORM ~ SQRT( X1|X1 + Y1|Y1 + Z1|Z1 ) ; VRCL0060
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X1 ~ X1/NORM ; VRCL0 61
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Y1 ~ Y1/NORM ; VRCL0062
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Z1 ~ Z1/NORM ; VRCL0063
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VRCL0064
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L5: WRITE ( FOUT1,FMOUT1,X,Y,Z,THETA,X1,Y1,Z1 ) ; VRCL0065
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THETA ~ THETA + DELTAT ; VRCL0066
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IF THETA > MAXTHETA THEN GO TO L3 ELSE GO TO L2 ; VRCL0067
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VRCL0068
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L3: WRITE ( FOUT1,FMOUT2,BETA ) ; VRCL0069
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THETA ~ 0 ; VRCL0070
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END; VRCL0071
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WRITE ( FOUT1,FMOUT3,GAMMA ) ; VRCL0072
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BETA ~ 0 ; VRCL0073
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END; VRCL0074
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COUN ~ COUN + 1 ; VRCL0075
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WRITE ( FOUT1,FMOUT4,EX,EY,EZ ) ; VRCL0076
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IF COUN < P THEN GO TO L1 ; VRCL0077
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END. VRCL0078
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LABEL 000000000FILE1 0010000001
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2 3 0 3 0
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1.0 0.0 0.0 0.1 0.1
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1.0 2.0 3.0 0.1 0.5
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0.0 0.0 1.0 0.1 0.1
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1.0 2.0 3.0 0.1 0.5
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0.0 1.0 0.0 0.1 0.1
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1.0 2.0 3.0 0.1 0.5
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