contrib/brl/bbas/imesh/algo/imesh_transform.cxx Source File

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00001 // This is brl/bbas/imesh/algo/imesh_transform.cxx
00002 
00003 //:
00004 // \file
00005 
00006 
00007 #include "imesh_transform.h"
00008 
00009 
00010 //: Translate the vertices in place
00011 void imesh_transform_inplace(imesh_mesh& mesh,
00012                              const vgl_vector_3d<double>& t)
00013 {
00014   imesh_vertex_array<3>& verts = mesh.vertices<3>();
00015   for(imesh_vertex_array<3>::iterator vi = verts.begin(); vi!= verts.end(); ++vi)
00016   {
00017     imesh_vertex<3>& v = *vi;
00018     v[0] += t.x();
00019     v[1] += t.y();
00020     v[2] += t.z();
00021   }
00022 }
00023 
00024 
00025 //: Rotate the vertices in place
00026 void imesh_transform_inplace(imesh_mesh& mesh,
00027                              const vgl_rotation_3d<double>& rotation)
00028 {
00029   imesh_vertex_array<3>& verts = mesh.vertices<3>();
00030   vnl_matrix_fixed<double,3,3> R = rotation.as_matrix();
00031   for(imesh_vertex_array<3>::iterator vi = verts.begin(); vi!= verts.end(); ++vi)
00032   {
00033     imesh_vertex<3>& v = *vi;
00034     v = imesh_vertex<3>(R[0][0]*v[0] + R[0][1]*v[1] + R[0][2]*v[2],
00035                         R[1][0]*v[0] + R[1][1]*v[1] + R[1][2]*v[2],
00036                         R[2][0]*v[0] + R[2][1]*v[1] + R[2][2]*v[2]);
00037   }
00038 
00039 }
00040 
00041 
00042 //: Rotate and translate the vertices in place
00043 void imesh_transform_inplace(imesh_mesh& mesh,
00044                              const vgl_rotation_3d<double>& rotation,
00045                              const vgl_vector_3d<double>& t)
00046 {
00047   imesh_vertex_array<3>& verts = mesh.vertices<3>();
00048   vnl_matrix_fixed<double,3,3> R = rotation.as_matrix();
00049   for(imesh_vertex_array<3>::iterator vi = verts.begin(); vi!= verts.end(); ++vi)
00050   {
00051     imesh_vertex<3>& v = *vi;
00052     v = imesh_vertex<3>(R[0][0]*v[0] + R[0][1]*v[1] + R[0][2]*v[2] + t.x(),
00053                         R[1][0]*v[0] + R[1][1]*v[1] + R[1][2]*v[2] + t.y(),
00054                         R[2][0]*v[0] + R[2][1]*v[1] + R[2][2]*v[2] + t.z());
00055   }
00056 
00057 }