Well, I read it and I get the general idea...
Would these be the equations to use? (After removing the 'Z' terms)
Code:
0 = ( (1/4) * (Tax2 + Tay2 + Taz2 - Pam2) ) * t4 +
( Tax * Tvx + Tay * Tvy + Taz * Tvz - Pam * Pvm ) * t3 +
( Tax * Tpx + Tvx2 + Tay * Tpy + Tvy2 +
Taz * Tpz + Tvz2 - Pam * Ppm - Pvm2 ) * t2 +
( 2 * ( Tvx * Tpx + Tvy * Tpy + Tvz * Tpz - Pvm * Ppm ) ) * t +
( Tpx2 + Tpy2 + Tpz2 - Ppm2 )
Code:
P't2 = ( Pam2 * Rbt2 + 2 * Pam * Pvm * Rbt + Pvm2 ) * t2 +
( 2 * Pam * Ppm * (Pam * Rbt + Pvm) - Pam2 * Rbt3 - Pam * Pvm * Rbt2 ) * t +
( (1/4) * Pam2 * Rbt4 - Pam * Ppm * Rbt2 + Ppm2 )
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