Tikz: Reuse parts of a plot and use parameters?

Question

I have used Tikz to make a cube and now I'd like to make multiple instance of it at different position. Therefore I imaging something like a parameterized pic or a "normal programming function" to reuse my cube. The problem with the pic is, that I already used a pic to draw parts of the cube. So I would need a pic in a pic.

As parameters I'd like to have the position and ideally orientation of the cube, with both frames fixed in the cube, but rotating with the cube. So ideally there's some kind of grouping and everything rotates with the settings. How can I accomplish this?

Thanks!

\documentclass[border=1cm]{standalone}
\usepackage{tikz}

\usetikzlibrary{shapes.geometric, arrows.meta, 3d, calc, decorations.markings,shapes,positioning, backgrounds, scopes}
\usepackage{tikz-3dplot}

\pgfdeclarelayer{background}
\pgfdeclarelayer{foreground}
\pgfsetlayers{background,main,foreground} 

\begin{document}
\begin{tikzpicture}[>=latex,scale=1.5,line cap=round, line join =round]

\tikzset{pics/coordsys/.style n args={4}{ code = { 
        \draw [->, #1] (0,0,0) -- +(1,0,0)[red] node [pos=1.3]{#2}; 
        \draw [->, #1] (0,0,0) -- +(0,1,0)[green!80!black] node [pos=1.2]{#3}; 
        \draw [->, #1] (0,0,0) -- +(0,0,1)[blue] node [pos=1.2]{#4}; } }} 

\pgfmathsetmacro{\cubex}{5}
\pgfmathsetmacro{\cubey}{1}
\pgfmathsetmacro{\cubez}{5}
\newcommand{\boxfillcolor}{yellow!20!}
\newcommand{\boxframecolor}{gray!20!}
\begin{scope}
    \draw[\boxframecolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,-\cubey,0) -- ++(\cubex,0,0) -- cycle;
    \draw[\boxframecolor] (0,0,0) -- ++(0,0,-\cubez) -- ++(0,-\cubey,0) -- ++(0,0,\cubez) -- cycle;
    \draw[\boxframecolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,0,-\cubez) -- ++(\cubex,0,0) -- cycle;
\end{scope}
\begin{scope}[on background layer]
    \fill[\boxfillcolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,-\cubey,0) -- ++(\cubex,0,0) -- cycle;
    \fill[\boxfillcolor] (0,0,0) -- ++(0,0,-\cubez) -- ++(0,-\cubey,0) -- ++(0,0,\cubez) -- cycle;
    \fill[\boxfillcolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,0,-\cubez) -- ++(\cubex,0,0) -- cycle;
\end{scope}

\pgfmathsetmacro{\dx}{0.6};
\pgfmathsetmacro{\dy}{2};
\pgfmathsetmacro{\dz}{0.3};
\coordinate (origin) at (-5,-3,0);
\coordinate (M) at (-\dx,-\cubey/\dy,-\dz);
\coordinate (B) at (-\cubex+\dx,-\cubey/\dy,-\cubez+\dz);

\draw (M) pic {coordsys={thick}{$x_M$}{$y_M$}{$z_M$}};
\node [below right] at (M.south) {\textit{M}};
\draw (B) pic {coordsys={dashed}{$x_M'$}{$y_M'$}{$z_M'$}};
\node [above left] at (B.west) {\textit{B}};

\tdplotsetmaincoords{0}{0};
\tdplotsetrotatedcoords{20}{-60}{10};
\tdplotsetrotatedcoordsorigin{(B)};
\draw [tdplot_rotated_coords] (B) pic {coordsys={thick}{$x_{B}$}{$y_{B}$}{$z_{B}$}}; 

\draw [->, thick] (M) -- (B) node [midway,fill=\boxfillcolor] {$q_{MB}, r_{MB}$};

\end{tikzpicture}
\end{document}

Answer 1

This is not a full answer that takes all the parameters into account but to tell you how to make it work in principle.

1. As far as I know, you can nest pics. At least in the example below it works. So you can make the bigger thing a pic, too.
2. Store all things that you want to adjust in pgf keys. I did that for the dimensions of the cube, the colors and the axes labels. If you want to add rotation angles and so on, all you need to do is to add more pgf keys. They can be changed for every pic. This is one of the biggest advantages compared to a style with a fixed number of parameters: you can always add some parameter without destroying downwards compatibility, i.e. your older codes will still work.

I also cleaned up your preamble.

\documentclass[tikz,border=1cm]{standalone}
\usepackage{tikz-3dplot} % loads 3d and calc libraries
\usetikzlibrary{backgrounds} % cleaned up

\begin{document}
\begin{tikzpicture}[>=latex,line cap=round, line join =round]

\tikzset{pics/coordsys/.style={
    code = {\tikzset{coordsys/.cd,#1}
        \draw [->,pic actions] (0,0,0) -- +(1,0,0)[red] node[pos=1.1]
        {$\pgfkeysvalueof{/tikz/coordsys/x}$};
        \begin{scope}[on background layer]
        \draw [->,pic actions] (0,0,0) -- +(0,1,0)[green!60!black] node[pos=1.1]
        {$\pgfkeysvalueof{/tikz/coordsys/y}$};
        \end{scope}
        \draw [->,pic actions] (0,0,0) -- +(0,0,1)[blue] node[pos=1.1]
        {$\pgfkeysvalueof{/tikz/coordsys/z}$};
    }
},coordsys/.cd,x/.initial=x,y/.initial=y,z/.initial=z} 

\tikzset{pics/complicated/.style={code={\tikzset{complicated/.cd,#1}
\begin{scope}
    \draw[\boxframecolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,-\cubey,0) -- ++(\cubex,0,0) -- cycle;
    \draw[\boxframecolor] (0,0,0) -- ++(0,0,-\cubez) -- ++(0,-\cubey,0) -- ++(0,0,\cubez) -- cycle;
    \draw[\boxframecolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,0,-\cubez) -- ++(\cubex,0,0) -- cycle;
\end{scope}
\begin{scope}[on background layer]
    \fill[\boxfillcolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,-\cubey,0) -- ++(\cubex,0,0) -- cycle;
    \fill[\boxfillcolor] (0,0,0) -- ++(0,0,-\cubez) -- ++(0,-\cubey,0) -- ++(0,0,\cubez) -- cycle;
    \fill[\boxfillcolor] (0,0,0) -- ++(-\cubex,0,0) -- ++(0,0,-\cubez) -- ++(\cubex,0,0) -- cycle;
\end{scope}

%\draw (-\cubex+0.2,-\cubey/2,-0.6) coordinate (origin) pic {coordsys={very thick}{x}{y}{z}}; 
\pgfmathsetmacro{\dx}{0.6};
\pgfmathsetmacro{\dy}{2};
\pgfmathsetmacro{\dz}{0.3};
\coordinate (origin) at (-5,-3,0);
\coordinate (M) at (-\dx,-\cubey/\dy,-\dz);
\coordinate (B) at (-\cubex+\dx,-\cubey/\dy,-\cubez+\dz);

\draw (M) pic[thick] {coordsys={x=x_M,y=y_M,z=z_M}};
\node [below right] at (M.south) {\textit{M}};
\draw (B) pic[dashed] {coordsys={x=x_M',y=y_M',z=z_M'}};
\node [above left] at (B.west) {\textit{B}};

\tdplotsetmaincoords{0}{0};
\tdplotsetrotatedcoords{20}{-60}{10};
\tdplotsetrotatedcoordsorigin{(B)};
%\begin{scope}[on background layer]
\draw [tdplot_rotated_coords] (B) pic[thick]{coordsys={x=x_{B},y=y_{B},z=z_{B}}}; 

\draw [->, thick] (M) -- (B) node [midway,fill=\boxfillcolor] {$q_{MB}, r_{MB}$};
}},complicated/.cd,cube x/.store in=\cubex,cube x=5,
cube y/.store in=\cubey,cube y=1,
cube z/.store in=\cubez,cube z=5,
box fill color/.store in=\boxfillcolor,box fill color=yellow!20!,
box frame color/.store in=\boxframecolor,box frame color=gray!20!,}
\path pic{complicated} (5,0,0) pic{complicated={box fill color=red!20}}
(10,0,0) pic{complicated={box fill color=blue!20,box frame color=blue}};
\end{tikzpicture}
\end{document}