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ENH: additional options for transforming points (closes #660)

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- The -rotate-angle option allows convenient specification of a
  rotation about an arbitrary axis. Eg, -rotate-angle '((1 1 1) 45)'

- The -origin option can be used to temporarily shift the origin
  for the rotation operations. For example,

      -origin '(0 0 1)' -rotate-angle '((1 0 0) 180)'

  for mirroring.
This commit is contained in:
Mark Olesen
2017-12-19 11:24:08 +01:00
parent 95e357ede4
commit 00325db33b
5 changed files with 322 additions and 83 deletions
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93
applications/test/quaternion/Test-quaternion.C
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@ -29,9 +29,13 @@ Description
\*---------------------------------------------------------------------------*/
#include "argList.H"
#include "quaternion.H"
#include "septernion.H"
#include "mathematicalConstants.H"
#include "Tuple2.H"
#include "IOstreams.H"
#include "transform.H"
using namespace Foam;
@ -39,6 +43,95 @@ using namespace Foam;
int main(int argc, char *argv[])
{
argList::addOption
(
"rollPitchYaw",
"vector",
"Rotate by '(roll pitch yaw)' in degrees"
);
argList::addOption
(
"yawPitchRoll",
"vector",
"Rotate by '(yaw pitch roll)' in degrees"
);
argList::addOption
(
"rotate-angle",
"(vector angle)",
"Rotate about the <vector> by <angle> degrees - eg, '((1 0 0) 45)'"
);
argList args(argc, argv);
vector rotVector;
if (args.optionReadIfPresent("rollPitchYaw", rotVector))
{
Info<< "Rotate by" << nl
<< " roll " << rotVector.x() << nl
<< " pitch " << rotVector.y() << nl
<< " yaw " << rotVector.z() << nl;
// degToRad
rotVector *= constant::mathematical::pi/180.0;
const quaternion quat(quaternion::rotationSequence::XYZ, rotVector);
Info<< "quaternion " << quat << endl;
Info<< "rotation = " << quat.R() << endl;
}
if (args.optionReadIfPresent("yawPitchRoll", rotVector))
{
Info<< "Rotate by" << nl
<< " yaw " << rotVector.x() << nl
<< " pitch " << rotVector.y() << nl
<< " roll " << rotVector.z() << nl;
// degToRad
rotVector *= constant::mathematical::pi/180.0;
const quaternion quat(quaternion::rotationSequence::ZYX, rotVector);
Info<< "quaternion " << quat << endl;
Info<< "rotation = " << quat.R() << endl;
}
if (args.optionFound("rotate-angle"))
{
const Tuple2<vector, scalar> axisAngle
(
args.optionLookup("rotate-angle")()
);
Info<< "Rotate" << nl
<< " about " << axisAngle.first() << nl
<< " angle " << axisAngle.second() << nl;
const quaternion quat
(
axisAngle.first(),
axisAngle.second() * constant::mathematical::pi/180.0 // degToRad
);
Info<< "quaternion " << quat << endl;
Info<< "rotation = " << quat.R() << endl;
Info<< "transform Ra = "
<< Ra
(
axisAngle.first() / mag(axisAngle.first()),
axisAngle.second() * constant::mathematical::pi/180.0
) << endl;
Info<< "-ve Ra = "
<< Ra
(
axisAngle.first() / mag(axisAngle.first()),
-axisAngle.second() * constant::mathematical::pi/180.0
) << endl;
}
Info<< nl << nl;
quaternion q(vector(1, 2, 3), 0.7853981);
Info<< "q " << q << endl;