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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 res = recenterTransform3d(transfo, center)
%RECENTERTRANSFORM3D Change the fixed point of an affine 3D transform.
%
% TRANSFO2 = recenterTransform3d(TRANSFO, CENTER)
% where TRANSFO is a 4x4 transformation matrix, and CENTER is a 1x3 row
% vector, computes the new transformations that uses the same linear part
% (defined by the upper-left 3x3 corner of the transformation matrix) as
% the initial transform, and that will leave the point CENTER unchanged.
%
%
%
% Example
% % creating a re-centered rotation using:
% rot1 = createRotationOx(pi/3);
% rot2 = recenterTransform3d(rot1, [3 4 5]);
% % will give the same result as:
% rot3 = createRotationOx([3 4 5], pi/3);
%
%
% See also
% transforms3d, createRotationOx, createRotationOy, createRotationOz
% createTranslation3d
% ------
% Author: David Legland
% E-mail: david.legland@inrae.fr
% Created: 2010-07-27, using Matlab 7.9.0.529 (R2009b)
% Copyright 2010-2023 INRA - Cepia Software Platform
% remove former translation part
res = eye(4);
res(1:3, 1:3) = transfo(1:3, 1:3);
% create translations
t1 = createTranslation3d(-center);
t2 = createTranslation3d(center);
% compute translated transform
res = t2*res*t1;
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