How do I replace the for loop for something quicker to plot?

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I'm plotting a stickfigure which is moving. To do this, I've to calculate the values of 26 points for every frame.

I do this using a for loop, but I believe there is a quicker way to do this.

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Mvdw 2016-6-1

编辑：Mvdw 2016-6-1

在 MATLAB Online 中打开

For more information:

I recorded with Xbox Kinect. From the Kinect I got translations and rotations. With those I calculate the positions of the joints in space.

But because I recorded a lot of frames, the for loop takes really long because for every frame the script has to do a big calculation, plot and do the calculation again for the next frame.

Here is a little piece of my script:

 %load all information
 twaist =     [M(:,26) M(:,27) M(:,28)];
 rwaist =     [M(:,29) M(:,30) M(:,31)];
 a=1;
b=size(M);
c=b(1,1);
for a=1:c;
 %calculate the position of the joint in space
 rxwaist=rwaist(a,1)*pi/180;
 rywaist=rwaist(a,2)*pi/180;
 rzwaist=rwaist(a,3)*pi/180;
 ARwaist= [1 0 0;0 cos(rxwaist) -sin(rxwaist);0 sin(rxwaist) cos(rxwaist)];
BRwaist=[cos(rywaist) 0 sin(rywaist);0 1 0; -sin(rywaist) 0 cos(rywaist)];
CRwaist=[cos(rzwaist) -sin(rzwaist) 0; sin(rzwaist) cos(rzwaist) 0; 0 0 1];
 Rwaist=ARwaist*BRwaist*CRwaist;
 %creating a vector
 ptwaist=[twaist(a,1);twaist(a,2);twaist(a,3)];
 %Defining position (for waist is really simple, because this is my beginning point)
 poswaist=ptwaist;
 %Transpose
 poswaist2=transpose(poswaist);
 %creating lines between joints
 pts_sw=[posspine2; poswaist2];
 plot3(pts_sw(:,1), pts_sw(:,2), pts_sw(:,3),'g','LineWidth',1.5)
 grid on
    title('Stick Figure');
    xlabel('X');
    ylabel('Y');
    zlabel('Z');
    axis equal 
    xlim([-80 80])
    ylim([-50 200])
    zlim([-310 -160])
    drawnow
    hold off
    a=a+1;
end