fai=0;omi=0;ka=0;u=0;r=0;f=1.2;

x=[?-0.1569????0.1200???-0.794????0.1246???0.5712?0.1219?];

y=[0.1338????0.1985???-0.738???-0.1615??-0.1823?-0.1911];

xz=[-0.4104-0.2621-0.2965-0.4208?-0.1625-0.6163];

yz=[-0.1356-0.0304-0.05150.0403?-0.1875-0.1812];
bx=x（1）-xz（1）;
by=bx*u;
bz=bx*r;
Xs1=0;
Ys1=0;
Zs1=1.3;
Xs2=0.8;
Ys2=0;
Zs2=1.3;
Bx=Xs1-Xs2;
By=Ys1-Ys2;
Bz=Zs1-Zs2;
while?1
a1z=cos（fai）*cos（ka）-sin（fai）*sin（omi）*sin（ka）;a2z=-cos（fai）*sin（ka）-sin（fai）*sin（omi）*cos（ka）;a3z=-sin（fai）*cos（omi）;

b1z=cos（omi）*sin（ka）;b2z=cos（omi）*cos（ka）;b3z=-sin（omi）;

c1z=sin（fai）*cos（ka）+cos（fai）*sin（omi）*sin（ka）;c2z=-sin（fai）*sin（ka）+cos（fai）*sin（omi）*cos（ka）;c3z=cos（fai）*cos（omi）;
R2=[a1zb1zc1z;a2zb2zc2z;a3zb3zc3z]
for?h=1:1:6;
X1=[-0.15690.1200-0.7940.12460.57120.1219];
Y1=[0.13380.1985-0.738-0.1615-0.1823-0.1911];
Z1=[-f-f-f-f-f-f];