rdinates of point A (calcul des coordonn�s du point A)</span>
0056 <span class="keyword">if</span> numel(solid1)==1
0057     A = Human_model(Bone1).c+Human_model(Bone1).anat_position{Point1,2};
0058 <span class="keyword">else</span>
0059     <span class="keyword">for</span> n=solid1(2:end)
0060         m = Human_model(n).mother;
0061         Human_model(n).p = Human_model(m).R * Human_model(n).b + Human_model(m).p;
0062         Human_model(n).R = Human_model(m).R * <a href="Rodrigues.html" class="code" ti