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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 tfmPoly = transformPolygon3d(poly, tfm)
%TRANSFORMPOINT3D Transform a polygon with a 3D affine transform.
%
% TFMPOLY = transformPoint3d(POLY, TFM);
% returns the polygon TFMPOLY by transforming POLY according to the
% affine transform specified by TFM. POLY can be either 2D or 3D. If POLY
% is 2D, zeros are added as third dimension, before the transformation is
% performed.
%
% Example
% center=-100+200*rand(1,3);
% phi=randi([-180,180]); theta=randi([-180,180]); psi=randi([-180,180]);
% tfm=eulerAnglesToRotation3d(phi, theta, psi, 'ZYZ'); tfm(1:3,4)=center';
% r = [2.5, 2, 1];
% poly = flipud(circleToPolygon([0 0 r(1)], round(2*pi*r(1))));
% midCircle = circleToPolygon([0 0 r(2)], round(2*pi*r(2)));
% innerCircle = flipud(circleToPolygon([0 0 r(3)], round(2*pi*r(3))));
% poly = {poly, midCircle, innerCircle};
% tfmPoly = transformPolygon3d(poly, tfm);
% figure('color','w'); axis equal; view(3)
% drawPolygon3d(tfmPoly, 'r')
%
% See also
% transforms3d, transformPoint3d, createTranslation3d
% createRotationOx, createRotationOy, createRotationOz, createScaling
%
% ------
% Author: oqilipo
% E-mail: N/A
% Created: 2023-01-05, using MATLAB 9.13.0.2080170 (R2022b) Update 1
% Copyright 2023
if isnumeric(poly)
c = size(poly,2);
if c < 2 || c > 3
error(['The polygon has ' num2str(c) ' columns. A polygon must have either 2 or 3 columns!'])
end
tfmPoly = transformPoint3d(twoD2threeD(poly), tfm);
elseif iscell(poly)
c = cellfun(@(x) size(x,2), poly);
if all(c == 2) || all(c == 3)
poly = cellfun(@twoD2threeD, poly, 'uni', 0);
tfmPoly = cellfun(@(x) transformPoint3d(x, tfm), poly, 'uni', 0);
else
error(['The polygon has ' num2str(c) ' columns. A polygon must have either 2 or 3 columns!'])
end
elseif isa(poly, 'polyshape')
error('Polyshape format cannot be used for 3D polygons!')
else
error('Unknown polygon format!')
end
end
function pts = twoD2threeD(pts)
if size(pts,2) == 2
pts(:,3)=0;
pts(isnan(pts(:,1)),3)=nan;
end
end
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