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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 = drawCuboid(varargin)
%DRAWCUBOID Draw a 3D cuboid, eventually rotated.
%
% drawCuboid(CUBOID)
% Displays a 3D cuboid on current axis. CUBOID is given by:
% [XC YC ZC L W D YAW PITCH ROLL],
% where (XC, YC, ZC) is the cuboid center, L, W and H are the lengths of
% the cuboid main axes, and YAW PITCH ROLL are Euler angles representing
% the cuboid orientation, in degrees.
%
% If cuboid is axis-aligned, it can be specified using only center and
% side lengths:
% CUBOID = [XC YC ZC L W H]
%
% Example
% % Draw a basic rotated cuboid
% figure; hold on;
% drawCuboid([10 20 30 90 40 10 10 20 30], 'FaceColor', 'g');
% axis equal;
% view(3);
%
% % Draw three "borromean" cuboids
% figure; hold on;
% drawCuboid([10 20 30 90 50 10], 'FaceColor', 'r');
% drawCuboid([10 20 30 50 10 90], 'FaceColor', 'g');
% drawCuboid([10 20 30 10 90 50], 'FaceColor', 'b');
% view(3); axis equal;
% set(gcf, 'renderer', 'opengl')
%
% See also
% meshes3d, polyhedra, createCube, drawEllipsoid, drawCube
%
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2011-06-29, using Matlab 7.9.0.529 (R2009b)
% Copyright 2011-2023 INRA - Cepia Software Platform
% extract handle of axis to draw on
[hAx, varargin] = parseAxisHandle(varargin{:});
cuboid = varargin{1};
varargin(1) = [];
% default orientation
phi = 0;
theta = 0;
psi = 0;
%% Parses the input
if nargin == 0
% no input: assumes cuboid with default shape
xc = 0; yc = 0; zc = 0;
a = 5; b = 4; c = 3;
else
% one argument: parses elements
xc = cuboid(:,1);
yc = cuboid(:,2);
zc = cuboid(:,3);
a = cuboid(:,4);
b = cuboid(:,5);
c = cuboid(:,6);
if size(cuboid, 2) >= 9
k = pi / 180;
phi = cuboid(:,7) * k;
theta = cuboid(:,8) * k;
psi = cuboid(:,9) * k;
end
end
%% Compute cuboid coordinates
% create unit centered cube
[v, f] = createCube;
v = bsxfun(@minus, v, mean(v, 1));
% convert unit basis to ellipsoid basis
sca = createScaling3d(a, b, c);
rotZ = createRotationOz(phi);
rotY = createRotationOy(theta);
rotX = createRotationOx(psi);
tra = createTranslation3d([xc yc zc]);
% concatenate transforms
trans = tra * rotZ * rotY * rotX * sca;
% transform mesh vertices
[x, y, z] = transformPoint3d(v, trans);
%% Process output
if nargout == 0
% no output: draw the cuboid
drawMesh(hAx, [x y z], f, varargin{:});
elseif nargout == 1
% one output: draw the cuboid and return handle
varargout{1} = drawMesh(hAx, [x y z], f, varargin{:});
elseif nargout == 3
% 3 outputs: return computed coordinates
varargout{1} = x;
varargout{2} = y;
varargout{3} = z;
end
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