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## Copyright (C) 2024 David Legland
## All rights reserved.
##
## Redistribution and use in source and binary forms, with or without
## modification, are permitted provided that the following conditions are met:
##
## 1 Redistributions of source code must retain the above copyright notice,
## this list of conditions and the following disclaimer.
## 2 Redistributions in binary form must reproduce the above copyright
## notice, this list of conditions and the following disclaimer in the
## documentation and/or other materials provided with the distribution.
##
## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS''
## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR
## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
##
## The views and conclusions contained in the software and documentation are
## those of the authors and should not be interpreted as representing official
## policies, either expressed or implied, of the copyright holders.
function point = circle3dPoint(circle, pos)
%CIRCLE3DPOINT Coordinates of a point on a 3D circle from its position.
%
% output = circle3dPoint(input)
%
% Example
% % Draw some points on a 3D circle
% figure('color','w'); hold on; view(130,-10);
% circle = [10 20 30 50 90 45 0];
% drawCircle3d(circle)
% % origin point
% pos1 = 0;
% drawPoint3d(circle3dPoint(circle, pos1), 'ro')
% % few points regularly spaced
% drawPoint3d(circle3dPoint(circle, 10:10:40), '+')
% % Draw point opposite to origin
% drawPoint3d(circle3dPoint(circle, 180), 'k*')
%
%
% See also
% circles3d, circle3dPosition
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2011-06-21, using Matlab 7.9.0.529 (R2009b)
% Copyright 2011-2023 INRA - Cepia Software Platform
pos=pos(:);
% extract circle coordinates
xc = circle(1);
yc = circle(2);
zc = circle(3);
r = circle(4);
theta = circle(5);
phi = circle(6);
psi = circle(7);
% convert position to angle
t = pos * pi / 180;
% compute position on base circle
x = r * cos(t);
y = r * sin(t);
z = zeros(length(pos),1);
pt0 = [x y z];
% compute transformation from local basis to world basis
trans = localToGlobal3d(xc, yc, zc, theta, phi, psi);
% compute points of transformed circle
point = transformPoint3d(pt0, trans);
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