surfaceTransformPoints: Updated to use the new transformer class

Description
    Transform (translate, rotate, scale) a surface.

Usage
    \b surfaceTransformPoints "\<transformations\>" \<input\> \<output\>
    Supported transformations:
      - \par translate=<translation vector>
        Translational transformation by given vector
      - \par rotate=(\<n1 vector\> \<n2 vector\>)
        Rotational transformation from unit vector n1 to n2
      - \par Rx=\<angle [deg] about x-axis\>
        Rotational transformation by given angle about x-axis
      - \par Ry=\<angle [deg] about y-axis\>
        Rotational transformation by given angle about y-axis
      - \par Rz=\<angle [deg] about z-axis\>
        Rotational transformation by given angle about z-axis
      - \par Ra=\<axis vector\> \<angle [deg] about axis\>
        Rotational transformation by given angle about given axis
      - \par scale=\<x-y-z scaling vector\>
        Anisotropic scaling by the given vector in the x, y, z
        coordinate directions

    Example usage:
        surfaceTransformPoints \
            "translate=(-0.586 0 -0.156), \
            Ry=3.485, \
            translate=(0.586 0 0.156)" \
            constant/geometry/w3_orig.stl constant/geometry/w3.stl

applications/utilities/surface/surfaceTransformPoints/surfaceTransformPoints.C

@@ -27,30 +27,39 @@ Application
 Description
     Transform (translate, rotate, scale) a surface.
 
-    The rollPitchYaw option takes three angles (degrees):
-    - roll (rotation about x) followed by
-    - pitch (rotation about y) followed by
-    - yaw (rotation about z)
-
-    The yawPitchRoll does yaw followed by pitch followed by roll.
-
 Usage
     \b surfaceTransformPoints "\<transformations\>" \<input\> \<output\>
+    Supported transformations:
+      - \par translate=<translation vector>
+        Translational transformation by given vector
+      - \par rotate=(\<n1 vector\> \<n2 vector\>)
+        Rotational transformation from unit vector n1 to n2
+      - \par Rx=\<angle [deg] about x-axis\>
+        Rotational transformation by given angle about x-axis
+      - \par Ry=\<angle [deg] about y-axis\>
+        Rotational transformation by given angle about y-axis
+      - \par Rz=\<angle [deg] about z-axis\>
+        Rotational transformation by given angle about z-axis
+      - \par Ra=\<axis vector\> \<angle [deg] about axis\>
+        Rotational transformation by given angle about given axis
+      - \par scale=\<x-y-z scaling vector\>
+        Anisotropic scaling by the given vector in the x, y, z
+        coordinate directions
 
     Example usage:
         surfaceTransformPoints \
             "translate=(-0.586 0 -0.156), \
-            rollPitchYaw=(0 -3.485 0), \
+            Ry=3.485, \
             translate=(0.586 0 0.156)" \
             constant/geometry/w3_orig.stl constant/geometry/w3.stl
 
 See also
+    Foam::transformer
     transformPoints
 
 \*---------------------------------------------------------------------------*/
 
 #include "argList.H"
-#include "quaternion.H"
 #include "unitConversion.H"
 #include "MeshedSurfaces.H"
 
@@ -62,10 +71,27 @@ int main(int argc, char *argv[])
 {
     #include "removeCaseOptions.H"
 
-    argList::addNote
+    const wordList supportedTransformations
     (
-        "Transform (translate, rotate, scale) a surface."
+        {"translate", "rotate", "Rx", "Ry", "Rz", "Ra", "scale"}
     );
+
+    {
+        OStringStream supportedTransformationsStr;
+        supportedTransformationsStr << supportedTransformations << endl;
+
+        argList::addNote
+        (
+            "Transforms a surface e.g.\n"
+            "surfaceTransformPoints "
+            "\"translate=(-0.586 0 -0.156), "
+            "Ry=3.485, "
+            "translate=(0.586 0 0.156)\" "
+            "surf.stl tranformedSurf.obj\n\n"
+            "Supported transformations " + supportedTransformationsStr.str()
+        );
+    }
+
     argList::noParallel();
     argList::validArgs.append("transformations");
     argList::validArgs.append("surface file");
@@ -84,17 +110,14 @@ int main(int argc, char *argv[])
     List<Tuple2<word, string>> transformations;
     dictArgList(transformationString, simpleTransformations, transformations);
 
-    meshedSurface surf1(surfFileName);
+    transformer transforms;
-
-    pointField points(surf1.points());
 
     forAll(transformations, i)
     {
         if (transformations[i].first() == "translate")
         {
             const vector v(IStringStream(transformations[i].second())());
-            Info<< "Translating points by " << v << endl;
+            transforms = transformer::translation(v) & transforms;
-            points += v;
         }
         else if (transformations[i].first() == "rotate")
         {
@@ -103,52 +126,60 @@ int main(int argc, char *argv[])
             n1n2[0] /= mag(n1n2[0]);
             n1n2[1] /= mag(n1n2[1]);
 
-            const tensor T = rotationTensor(n1n2[0], n1n2[1]);
+            transforms =
-
+                transformer::rotation(rotationTensor(n1n2[0], n1n2[1]))
-            Info<< "Rotating points by " << T << endl;
+              & transforms;
-
-            points = transform(T, points);
         }
-        else if (transformations[i].first() == "rollPitchYaw")
+        else if (transformations[i].first() == "Rx")
         {
-            const vector v(IStringStream(transformations[i].second())());
+            const scalar a
-
-            Info<< "Rotating points by "
-                << " roll = " << v.x()
-                << ", pitch = " << v.y()
-                << ", yaw = " << v.z() << nl;
-
-            const quaternion R(quaternion::rotationSequence::XYZ, degToRad(v));
-            points = transform(R, points);
-        }
-        else if (transformations[i].first() == "yawPitchRoll")
-        {
-            const vector v(IStringStream(transformations[i].second())());
-
-            Info<< "Rotating points by "
-                << " yaw   " << v.x()
-                << ", pitch " << v.y()
-                << ", roll  " << v.z() << nl;
-
-            const quaternion R
             (
-                quaternion::rotationSequence::ZYX,
+                readScalar(IStringStream(transformations[i].second())())
-                degToRad(vector(v.z(), v.y(), v.x()))
             );
-            points = transform(R, points);
+            transforms = transformer::rotation(Rx(degToRad(a))) & transforms;
+        }
+        else if (transformations[i].first() == "Ry")
+        {
+            const scalar a
+            (
+                readScalar(IStringStream(transformations[i].second())())
+            );
+            transforms = transformer::rotation(Ry(degToRad(a))) & transforms;
+        }
+        else if (transformations[i].first() == "Rz")
+        {
+            const scalar a
+            (
+                readScalar(IStringStream(transformations[i].second())())
+            );
+            transforms = transformer::rotation(Rz(degToRad(a))) & transforms;
+        }
+        else if (transformations[i].first() == "Ra")
+        {
+            IStringStream istr(transformations[i].second());
+            const vector v(istr);
+            const scalar a(readScalar(istr));
+            transforms = transformer::rotation(Ra(v, degToRad(a))) & transforms;
         }
         else if (transformations[i].first() == "scale")
         {
             const vector v(IStringStream(transformations[i].second())());
-
+            transforms =
-            Info<< "Scaling points by " << v << endl;
+                transformer::scaling(diagTensor(v.x(), v.y(), v.z()))
-
+              & transforms;
-            points.replace(vector::X, v.x()*points.component(vector::X));
+        }
-            points.replace(vector::Y, v.y()*points.component(vector::Y));
+        else
-            points.replace(vector::Z, v.z()*points.component(vector::Z));
+        {
+            args.printUsage();
+            FatalErrorInFunction
+                << "Unknown transformation " << transformations[i].first()
+                << exit(FatalError);
         }
     }
 
+    meshedSurface surf1(surfFileName);
+    pointField points(surf1.points());
+    transforms.transformPosition(points, points);
     surf1.movePoints(points);
     surf1.write(outFileName);
 

src/OpenFOAM/primitives/transform/transformer/transformer.H

@@ -2,7 +2,7 @@
   =========                 |
   \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
    \\    /   O peration     | Website:  https://openfoam.org
-    \\  /    A nd           | Copyright (C) 2011-2020 OpenFOAM Foundation
+    \\  /    A nd           | Copyright (C) 2011-2021 OpenFOAM Foundation
      \\/     M anipulation  |
 -------------------------------------------------------------------------------
 License
@@ -25,8 +25,8 @@ Class
     Foam::transformer
 
 Description
-    Vector-tensor class used to perform translations and rotations in
+    Vector-tensor class used to perform translations, rotations and scaling
-    3D space.
+    operations in 3D space.
 
 SourceFiles
     transformerI.H

tutorials/multiphase/interFoam/RAS/planingHullW3/Allmesh.1

@@ -6,7 +6,7 @@ cd ${0%/*} || exit 1    # Run from this directory
 
 runApplication surfaceTransformPoints \
     "translate=(-0.586 0 -0.156), \
-    rollPitchYaw=(0 -3.485 0), \
+    Ry=3.485, \
     translate=(0.586 0 0.156)" \
     constant/geometry/w3_orig.stl constant/geometry/w3.stl
 

tutorials/multiphase/interFoam/RAS/planingHullW3/Allmesh.2

@@ -6,7 +6,7 @@ cd ${0%/*} || exit 1    # Run from this directory
 
 runApplication surfaceTransformPoints \
     "translate=(-0.586 0 -0.156), \
-    rollPitchYaw=(0 -3.485 0), \
+    Ry=3.485, \
     translate=(0.586 0 0.156)" \
     constant/geometry/w3_orig.stl constant/geometry/w3.stl