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yaw pitch roll

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This commit is contained in:
mattijs
2009-03-12 15:12:31 +00:00
parent 728c9514ef
commit 642dadf1f7
2 changed files with 119 additions and 3 deletions
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55
applications/utilities/surface/surfaceTransformPoints/surfaceTransformPoints.C
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@ -23,9 +23,16 @@ License
Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Description
Transform (scale/rotate) a surface. Like transforPoints but then for
Transform (scale/rotate) a surface. Like transformPoints but then for
surfaces.
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.
\*---------------------------------------------------------------------------*/
#include "triSurface.H"
@ -35,8 +42,10 @@ Description
#include "boundBox.H"
#include "transformField.H"
#include "Pair.H"
#include "quaternion.H"
using namespace Foam;
using namespace Foam::mathematicalConstant;
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
@ -52,6 +61,8 @@ int main(int argc, char *argv[])
argList::validOptions.insert("translate", "vector");
argList::validOptions.insert("rotate", "(vector vector)");
argList::validOptions.insert("scale", "vector");
argList::validOptions.insert("rollPitchYaw", "(roll pitch yaw)");
argList::validOptions.insert("yawPitchRoll", "(yaw pitch roll)");
argList args(argc, argv);
fileName surfFileName(args.additionalArgs()[0]);
@ -96,6 +107,48 @@ int main(int argc, char *argv[])
points = transform(T, points);
}
else if (args.options().found("rollPitchYaw"))
{
vector v(IStringStream(args.options()["rollPitchYaw"])());
Info<< "Rotating points by" << nl
<< " roll " << v.x() << nl
<< " pitch " << v.y() << nl
<< " yaw " << v.z() << endl;
// Convert to radians
v *= pi/180.0;
quaternion R(v.x(), v.y(), v.z());
Info<< "Rotating points by quaternion " << R << endl;
points = transform(R, points);
}
else if (args.options().found("yawPitchRoll"))
{
vector v(IStringStream(args.options()["yawPitchRoll"])());
Info<< "Rotating points by" << nl
<< " yaw " << v.x() << nl
<< " pitch " << v.y() << nl
<< " roll " << v.z() << endl;
// Convert to radians
v *= pi/180.0;
scalar yaw = v.x();
scalar pitch = v.y();
scalar roll = v.z();
quaternion R = quaternion(vector(0, 0, 1), yaw);
R *= quaternion(vector(0, 1, 0), pitch);
R *= quaternion(vector(1, 0, 0), roll);
Info<< "Rotating points by quaternion " << R << endl;
points = transform(R, points);
}
if (args.options().found("scale"))
{