1## Copyright (C) 2021 David Legland 2## All rights reserved. 3## 4## Redistribution and use in source and binary forms, with or without 5## modification, are permitted provided that the following conditions are met: 6## 7## 1 Redistributions of source code must retain the above copyright notice, 8## this list of conditions and the following disclaimer. 9## 2 Redistributions in binary form must reproduce the above copyright 10## notice, this list of conditions and the following disclaimer in the 11## documentation and/or other materials provided with the distribution. 12## 13## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ''AS IS'' 14## AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 15## IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 16## ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR 17## ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 18## DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 19## SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 20## CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 21## OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 22## OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 23## 24## The views and conclusions contained in the software and documentation are 25## those of the authors and should not be interpreted as representing official 26## policies, either expressed or implied, of the copyright holders. 27 28function trans = createRotationOx(varargin) 29%CREATEROTATIONOX Create the 4x4 matrix of a 3D rotation around x-axis. 30% 31% TRANS = createRotationOx(THETA); 32% Returns the transform matrix corresponding to a rotation by the angle 33% THETA (in radians) around the Ox axis. A rotation by an angle of PI/2 34% would transform the vector [0 1 0] into the vector [0 0 1]. 35% 36% The returned matrix has the form: 37% [1 0 0 0] 38% [0 cos(THETA) -sin(THETA) 0] 39% [0 sin(THETA) cos(THETA) 0] 40% [0 0 0 1] 41% 42% TRANS = createRotationOx(ORIGIN, THETA); 43% TRANS = createRotationOx(X0, Y0, Z0, THETA); 44% Also specifies origin of rotation. The result is similar as performing 45% translation(-X0, -Y0, -Z0), rotation, and translation(X0, Y0, Z0). 46% 47% See also: 48% transforms3d, transformPoint3d, createRotationOy, createRotationOz 49% 50 51% --------- 52% author : David Legland 53% INRA - TPV URPOI - BIA IMASTE 54% created the 18/02/2005. 55% 56 57% HISTORY 58% 24/11/2008 changed convention for angle 59% 22/04/2009 rename as createRotationOx 60 61 62% default values 63dx = 0; 64dy = 0; 65dz = 0; 66theta = 0; 67 68% get input values 69if length(varargin) == 1 70 % only one argument -> rotation angle 71 theta = varargin{1}; 72 73elseif length(varargin) == 2 74 % origin point (as array) and angle 75 var = varargin{1}; 76 dx = var(1); 77 dy = var(2); 78 dz = var(3); 79 theta = varargin{2}; 80 81elseif length(varargin) == 4 82 % origin (x and y) and angle 83 dx = varargin{1}; 84 dy = varargin{2}; 85 dz = varargin{3}; 86 theta = varargin{4}; 87end 88 89% compute coefs 90cot = cos(theta); 91sit = sin(theta); 92 93% create transformation 94trans = [... 95 1 0 0 0;... 96 0 cot -sit 0;... 97 0 sit cot 0;... 98 0 0 0 1]; 99 100% add the translation part 101t = [1 0 0 dx;0 1 0 dy;0 0 1 dz;0 0 0 1]; 102trans = t * trans / t; 103