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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 varargout = drawAngleBetweenVectors3d(varargin)
%DRAWANGLEBETWEENVECTORS3D Draw an arc between 2 vectors.
%
% drawAngleBetweenVectors3d(ORIGIN, VECTOR1, VECTOR2, RADIUS)
% draws the arc between VECTOR1 and VECTOR2.
%
% drawAngleBetweenVectors3d(...,'ConjugateAngle',1) draws the conjugate
% angle instead of the small angle. Default is false.
%
% H = drawAngleBetweenVectors3d(...)
% returns the handle of the created LINE object
%
% Example
% o=-100 + 200*rand(1,3);
% v1=normalizeVector3d(-1 + 2*rand(1,3));
% v2=normalizeVector3d(-1 + 2*rand(1,3));
% r = rand;
% figure('color','w'); view(3)
% hold on; axis equal tight; xlabel X; ylabel Y; zlabel Z;
% drawVector3d(o, v1, 'r')
% drawVector3d(o, v2, 'g')
% drawAngleBetweenVectors3d(o, v1, v2, r,'Color','m','LineWidth', 3)
%
% See also
% drawCircleArc3d
% ------
% Author: oqilipo
% E-mail: N/A
% Created: 2020-02-02
% Copyright 2020-2023
% extract handle of axis to draw on
[hAx, varargin] = parseAxisHandle(varargin{:});
% retrieve inputs
if length(varargin) < 4
error('Requires at least four input arguments');
end
o = varargin{1};
v1 = varargin{2};
v2 = varargin{3};
r = varargin{4};
varargin(1:4) = [];
% parse optional arguments
p = inputParser;
p.KeepUnmatched = true;
logParValidFunc = @(x) (islogical(x) || isequal(x,1) || isequal(x,0));
addParameter(p, 'ConjugateAngle', false, logParValidFunc);
parse(p, varargin{:});
conjugate = p.Results.ConjugateAngle;
drawOptions = p.Unmatched;
% Normal of the two vectors
normal = normalizeVector3d(crossProduct3d(v1, v2));
% Align normal with the z axis.
ROT = createRotationVector3d(normal,[0 0 1]);
% Align first vector with x axis
ROTv1 = createRotationVector3d(transformVector3d(v1,ROT),[1 0 0]);
% Get Euler angles of the arc.
% The arc is an flat object. Hence, use the 'ZYZ' convention.
[PHI, THETA, PSI] = rotation3dToEulerAngles((ROTv1*ROT)', 'ZYZ');
% Get angle between the vectors
angle = rad2deg(vectorAngle3d(v1, v2));
% Draw the arc
if ~conjugate
h = drawCircleArc3d(hAx, [o r [THETA PHI PSI] 0 angle], drawOptions);
else
h = drawCircleArc3d(hAx, [o r [THETA PHI PSI] 0 angle-360], drawOptions);
end
% Format output
if nargout > 0
varargout{1} = h;
end
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