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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 = drawAxis3d(varargin)
%DRAWAXIS3D Draw a coordinate system and an origin.
%
% drawAxis3d
% Adds three 3D arrows to the current axis, corresponding to the
% directions of the 3 basis vectors Ox, Oy and Oz.
% Ox vector is red, Oy vector is green, and Oz vector is blue.
%
% drawAxis3d(L, R)
% Specifies the length L and the radius of the cylinders representing the
% different axes.
%
% drawAxis3d(..., 'TFM', TRANSFORM)
% Transforms the coordinate system before drawing using TRANSFORM.
%
% H = drawAxis3d(...) returns the group handle of the axis object.
%
% Example
% drawAxis3d
%
% figure;
% drawAxis3d(20, 1);
% view([135,15]); lighting('phong'); camlight('head'); axis('equal')
% xlabel X; ylabel Y; zlabel Z
%
% See also
% drawAxisCube
%
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2007-08-14, using Matlab 7.4.0.287 (R2007a)
% Copyright 2007-2023 INRA - BIA PV Nantes - MIAJ Jouy-en-Josas
% extract handle of axis to draw on
if isempty(varargin)
hAx = gca;
else
if isAxisHandle(varargin{1})
hAx = varargin{1};
varargin(1) = [];
else
hAx = gca;
end
end
% Parsing
p = inputParser;
addOptional(p, 'L', 1, @(x)validateattributes(x, {'numeric'},...
{'scalar','nonempty','real','finite','positive','nonnan'}));
addOptional(p, 'R', [], @(x)validateattributes(x, {'numeric'},...
{'scalar','nonempty','real','finite','positive','nonnan'}));
addParameter(p, 'TFM', eye(4), @isTransform3d);
parse(p,varargin{:});
L = p.Results.L;
R = p.Results.R;
if isempty(R)
R = L/10;
elseif R/L > 0.1
R = (0.1-eps)*L;
warning('Value of R is invalid and was ignored!')
end
TFM = p.Results.TFM;
% geometrical data
origin = transformPoint3d(zeros(3,3), TFM);
vector = transformVector3d(eye(3,3), TFM);
color = eye(3,3);
% draw three arrows and a ball
hold on;
sh = drawArrow3d(hAx, origin, vector*L, color, 'arrowRadius', R/L);
sh(4) = drawSphere(hAx, [origin(1,:) 2*R], 'faceColor', 'black');
gh = hggroup(hAx);
set(sh, 'Parent', gh)
if nargout > 0
varargout = {gh};
end
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