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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 TFM = createRotationVectorPoint3d(A,B,P)
%CREATEROTATIONVECTORPOINT3D Calculates the rotation between two vectors.
% around a point
%
% TFM = createRotationVectorPoint3d(A,B,P) returns the transformation
% to rotate the vector A in the direction of vector B around point P
%
% Example
% A=-5+10.*rand(1,3);
% B=-10+20.*rand(1,3);
% P=-50+100.*rand(1,3);
% ROT = createRotationVectorPoint3d(A,B,P);
% C = transformVector3d(A,ROT);
% figure('color','w'); hold on; view(3)
% drawPoint3d(P,'k')
% drawVector3d(P, A,'r')
% drawVector3d(P, B,'g')
% drawVector3d(P, C,'r')
%
% See also
% transformPoint3d, createRotationVector3d
% ------
% Author: oqilipo
% E-mail: N/A
% Created: 2017-08-07
% Copyright 2017-2023
P = reshape(P,3,1);
% Translation from P to origin
invtrans = [eye(3),-P; [0 0 0 1]];
% Rotation from A to B
rot = createRotationVector3d(A, B);
% Translation from origin to P
trans = [eye(3),P; [0 0 0 1]];
% Combine
TFM = trans*rot*invtrans;
end
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