time | Calls | line |
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| | 1 | function m=makehgtform(varargin)
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| | 2 | %MAKEHGTFORM Make a 4x4 transform matrix.
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| | 3 | % M = MAKEHGTFORM Creates an identity transform.
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| | 4 | %
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| | 5 | % M = MAKEHGTFORM('translate',tx,ty,tz) Translate along X
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| | 6 | % axis by tx, along Y axis by ty, and along Z axis by tz.
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| | 7 | %
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| | 8 | % M = MAKEHGTFORM('scale',s) Scale uniformly by s.
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| | 9 | %
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| | 10 | % M = MAKEHGTFORM('scale',[sx sy sz]) Scale along X axis by
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| | 11 | % sx, along Y axis by sy, and along Z axis by sz.
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| | 12 | %
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| | 13 | % M = MAKEHGTFORM('xrotate',t) Rotate around X axis by t radians.
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| | 14 | %
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| | 15 | % M = MAKEHGTFORM('yrotate',t) Rotate around Y axis by t radians.
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| | 16 | %
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| | 17 | % M = MAKEHGTFORM('zrotate',t) Rotate around Z axis by t radians.
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| | 18 | %
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| | 19 | % M = MAKEHGTFORM('axisrotate',[ax ay az],t) Rotate around axis
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| | 20 | % [ax ay az] by t radians.
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| | 21 | %
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| | 22 | % Multiple transforms can be concatenated.
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| | 23 | %
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| | 24 | % Example:
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| | 25 | %
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| | 26 | % m = makehgtform('xrotate',pi/2,'yrotate',pi/2);
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| | 27 | %
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| | 28 | % is the same as:
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| | 29 | %
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| | 30 | % m = makehgtform('xrotate',pi/2)*makehgtform('yrotate',pi/2);
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| | 31 | %
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| | 32 | % See also HGTRANSFORM.
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| | 33 |
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| | 34 | % Copyright 1984-2017 The MathWorks, Inc.
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| | 35 |
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| | 36 | import matlab.graphics.internal.*;
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0.002 | 154 | 37 | m = eye(4);
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< 0.001 | 154 | 38 | ai = 1;
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< 0.001 | 154 | 39 | numArgs = length(varargin);
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< 0.001 | 154 | 40 | while ai <= numArgs
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0.002 | 308 | 41 | name = varargin{ai};
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< 0.001 | 308 | 42 | ai = ai+1;
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| | 43 |
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0.001 | 308 | 44 | if strcmpi(name,'translate')
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< 0.001 | 154 | 45 | narginchk(ai,inf);
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| | 46 |
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< 0.001 | 154 | 47 | if ~isnumeric(varargin{ai})
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| | 48 | error(message('MATLAB:makehgtform:InvalidParamTranslateNumeric'));
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< 0.001 | 154 | 49 | end
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0.003 | 154 | 50 | x = double(varargin{ai});
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< 0.001 | 154 | 51 | ai = ai+1;
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| | 52 |
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< 0.001 | 154 | 53 | if isscalar(x)
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| | 54 | narginchk(ai+1,inf);
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| | 55 |
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| | 56 | if ~isnumeric(varargin{ai})
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| | 57 | error(message('MATLAB:makehgtform:InvalidParamTranslateNumeric'));
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| | 58 | end
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| | 59 | y = double(varargin{ai});
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| | 60 | ai = ai+1;
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| | 61 |
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| | 62 | if ~isnumeric(varargin{ai})
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| | 63 | error(message('MATLAB:makehgtform:InvalidParamTranslateNumeric'));
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| | 64 | end
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| | 65 | z = double(varargin{ai});
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| | 66 | ai = ai+1;
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| | 67 | if (~isscalar(y) || ~isscalar(z))
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| | 68 | %todo
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| | 69 | end
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| | 70 |
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< 0.001 | 154 | 71 | elseif (~isvector(x) || length(x) ~= 3)
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| | 72 | error(message('MATLAB:makehgtform:InvalidParamTranslate3D'));
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< 0.001 | 154 | 73 | else
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< 0.001 | 154 | 74 | y = x(2);
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< 0.001 | 154 | 75 | z = x(3);
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< 0.001 | 154 | 76 | x = x(1);
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< 0.001 | 154 | 77 | end
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| | 78 |
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< 0.001 | 154 | 79 | if (~isfinite(x) || ~isfinite(y) || ~isfinite(z))
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| | 80 | error(message('MATLAB:makehgtform:InvalidParamTranslateFinite'));
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< 0.001 | 154 | 81 | end
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0.009 | 154 | 82 | m = matrixMultiply(m,...
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| 154 | 83 | [1 0 0 x; ...
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| 154 | 84 | 0 1 0 y; ...
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| 154 | 85 | 0 0 1 z; ...
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| | 86 | 0 0 0 1]);
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| | 87 | % m = m * [1 0 0 x; ...
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| | 88 | % 0 1 0 y; ...
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| | 89 | % 0 0 1 z; ...
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| | 90 | % 0 0 0 1];
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| | 91 |
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< 0.001 | 154 | 92 | elseif strcmpi(name,'scale')
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< 0.001 | 154 | 93 | narginchk(ai,inf);
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| | 94 |
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< 0.001 | 154 | 95 | if ~isnumeric(varargin{ai})
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| | 96 | error(message('MATLAB:makehgtform:InvalidParamScaleNumeric'));
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< 0.001 | 154 | 97 | end
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0.002 | 154 | 98 | s = double(varargin{ai});
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< 0.001 | 154 | 99 | ai = ai+1;
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| | 100 |
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< 0.001 | 154 | 101 | if isscalar(s)
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| | 102 | s = repmat(s,1,3);
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< 0.001 | 154 | 103 | elseif (~isvector(s) || length(s) ~= 3)
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| | 104 | error(message('MATLAB:makehgtform:InvalidParamScaleFactor1D3D'));
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< 0.001 | 154 | 105 | end
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| | 106 |
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< 0.001 | 154 | 107 | if (~isfinite(s(1)) || ~isfinite(s(2)) || ~isfinite(s(3)))
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| | 108 | error(message('MATLAB:makehgtform:InvalidParamScaleFactorFinite'));
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< 0.001 | 154 | 109 | end
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| | 110 |
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< 0.001 | 154 | 111 | if (s(1) <= 0 || s(2) <= 0 || s(3) <= 0)
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| | 112 | error(message('MATLAB:makehgtform:InvalidParamScaleFactorPositive'));
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< 0.001 | 154 | 113 | end
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| | 114 |
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0.004 | 154 | 115 | m = matrixMultiply(m,...
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| 154 | 116 | [s(1) 0 0 0; ...
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| 154 | 117 | 0 s(2) 0 0; ...
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| 154 | 118 | 0 0 s(3) 0; ...
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| | 119 | 0 0 0 1]);
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| | 120 | % m = m * [s(1) 0 0 0; ...
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| | 121 | % 0 s(2) 0 0; ...
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| | 122 | % 0 0 s(3) 0; ...
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| | 123 | % 0 0 0 1];
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| | 124 |
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| | 125 | elseif strcmpi(name,'xrotate')
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| | 126 | narginchk(ai,inf);
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| | 127 |
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| | 128 | if ~isnumeric(varargin{ai})
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| | 129 | error(message('MATLAB:makehgtform:InvalidParamXrotateNumeric'));
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| | 130 | end
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| | 131 | t = double(varargin{ai});
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| | 132 | ai = ai+1;
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| | 133 |
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| | 134 | if (~isscalar(t))
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| | 135 | error(message('MATLAB:makehgtform:InvalidParamRotationScalar'));
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| | 136 | end
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| | 137 |
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| | 138 | if (~isfinite(t))
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| | 139 | error(message('MATLAB:makehgtform:InvalidParamRotationFinite'));
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| | 140 | end
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| | 141 | [ct,st] = computeCosAndSin(t);
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| | 142 | m = matrixMultiply(m,...
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| | 143 | [1 0 0 0; ...
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| | 144 | 0 ct -st 0; ...
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| | 145 | 0 st ct 0; ...
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| | 146 | 0 0 0 1]);
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| | 147 | % m = m * [1 0 0 0; ...
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| | 148 | % 0 ct -st 0; ...
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| | 149 | % 0 st ct 0; ...
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| | 150 | % 0 0 0 1];
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| | 151 |
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| | 152 | elseif strcmpi(name,'yrotate')
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| | 153 | narginchk(ai,inf);
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| | 154 |
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| | 155 | if ~isnumeric(varargin{ai})
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| | 156 | error(message('MATLAB:makehgtform:InvalidParamYrotateNumeric'));
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| | 157 | end
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| | 158 | t = double(varargin{ai});
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| | 159 | ai = ai+1;
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| | 160 |
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| | 161 | if (~isscalar(t))
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| | 162 | error(message('MATLAB:makehgtform:InvalidParamRotationScalar'));
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| | 163 | end
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| | 164 |
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| | 165 | if (~isfinite(t))
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| | 166 | error(message('MATLAB:makehgtform:InvalidParamRotationFinite'));
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| | 167 | end
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| | 168 |
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| | 169 | [ct,st] = computeCosAndSin(t);
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| | 170 | m = matrixMultiply(m,...
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| | 171 | [ct 0 st 0; ...
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| | 172 | 0 1 0 0; ...
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| | 173 | -st 0 ct 0; ...
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| | 174 | 0 0 0 1]);
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| | 175 | % m = m * [ct 0 st 0; ...
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| | 176 | % 0 1 0 0; ...
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| | 177 | % -st 0 ct 0; ...
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| | 178 | % 0 0 0 1];
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| | 179 |
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| | 180 | elseif strcmpi(name,'zrotate')
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| | 181 | narginchk(ai,inf);
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| | 182 |
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| | 183 | if ~isnumeric(varargin{ai})
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| | 184 | error(message('MATLAB:makehgtform:InvalidParamZrotate'));
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| | 185 | end
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| | 186 | t = double(varargin{ai});
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| | 187 | ai = ai+1;
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| | 188 |
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| | 189 | if (~isscalar(t))
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| | 190 | error(message('MATLAB:makehgtform:InvalidParamRotationScalar'));
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| | 191 | end
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| | 192 |
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| | 193 | if (~isfinite(t))
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| | 194 | error(message('MATLAB:makehgtform:InvalidParamRotationFinite'));
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| | 195 | end
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| | 196 |
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| | 197 | [ct,st] = computeCosAndSin(t);
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| | 198 | m = matrixMultiply(m,...
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| | 199 | [ct -st 0 0; ...
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| | 200 | st ct 0 0; ...
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| | 201 | 0 0 1 0; ...
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| | 202 | 0 0 0 1]);
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| | 203 | % m = m * [ct -st 0 0; ...
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| | 204 | % st ct 0 0; ...
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| | 205 | % 0 0 1 0; ...
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| | 206 | % 0 0 0 1];
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| | 207 |
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| | 208 | elseif strcmpi(name,'axisrotate')
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| | 209 | narginchk(ai+1,inf);
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| | 210 |
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| | 211 | if ~isnumeric(varargin{ai})
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| | 212 | error(message('MATLAB:makehgtform:InvalidParamAxisRotateNumeric'));
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| | 213 | end
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| | 214 | u = double(varargin{ai});
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| | 215 | ai = ai+1;
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| | 216 |
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| | 217 | if ~isnumeric(varargin{ai})
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| | 218 | error(message('MATLAB:makehgtform:InvalidParamAxisRotateNumeric'));
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| | 219 | end
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| | 220 | t = double(varargin{ai});
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| | 221 | ai = ai+1;
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| | 222 |
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| | 223 | if ( ~isvector(u) || length(u) ~= 3)
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| | 224 | error(message('MATLAB:makehgtform:BadAxis3D'));
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| | 225 | end
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| | 226 |
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| | 227 | if (~isfinite(u(1)) || ~isfinite(u(2)) || ~isfinite(u(3)))
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| | 228 | error(message('MATLAB:makehgtform:BadAxisFinite'));
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| | 229 | end
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| | 230 |
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| | 231 | if (~isscalar(t))
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| | 232 | error(message('MATLAB:makehgtform:InvalidParamRotationScalar'));
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| | 233 | end
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| | 234 |
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| | 235 | if (~isfinite(t))
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| | 236 | error(message('MATLAB:makehgtform:InvalidParamRotationFinite'));
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| | 237 | end
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| | 238 |
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| | 239 | u = u./norm(u);
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| | 240 | [c,s] = computeCosAndSin(t);
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| | 241 |
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| | 242 | tmp = eye(4);
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| | 243 | tmp(1:3,1:3) = c*eye(3) + (1-c)*kron(u,u') + s*SkewSymm(u);
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| | 244 | m = m * tmp;
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| | 245 |
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| | 246 | else
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| | 247 | if isCharOrString(name)
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| | 248 | error(message('MATLAB:makehgtform:BadTransformType', name));
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| | 249 | elseif isnumeric(name)
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| | 250 | error(message('MATLAB:makehgtform:UnrecognizedArg', num2str( name )));
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| | 251 | else
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| | 252 | error(message('MATLAB:makehgtform:InvalidArg'));
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| | 253 | end
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< 0.001 | 308 | 254 | end
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| | 255 |
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< 0.001 | 308 | 256 | end
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Other subfunctions in this file are not included in this listing.
