rotate_vector(P);
}
-
+ /**
+ * Fills in rotation_matrix so that the triangle PP1, PP2, PP3 is in the plane Oxy, with PP1 at the origin and PP2 on Ox.
+ */
+ static void Rotate3DTriangle(const double* PP1,const double*PP2,const double*PP3, TranslationRotationMatrix& rotation_matrix)
+ {
+ double P1w[3];
+ double P2w[3];
+ double P3w[3];
+ P2w[0]=PP2[0]; P2w[1]=PP2[1];P2w[2]=PP2[2];
+ P3w[0]=PP3[0]; P3w[1]=PP3[1];P3w[2]=PP3[2];
+
+ // translating to set P1 at the origin
+ for (int i=0; i<3; i++)
+ {
+ P1w[i] = -PP1[i];
+ P2w[i] -= PP1[i];
+ P3w[i] -= PP1[i];
+ }
+
+ //initializes matrix
+ rotation_matrix.translate(P1w);
+
+ // rotating to set P2 on the Oxy plane
+ TranslationRotationMatrix A;
+ A.rotate_x(P2w);
+ A.rotate_vector(P3w);
+ rotation_matrix.multiply(A);
+
+ //rotating to set P2 on the Ox axis
+ TranslationRotationMatrix B;
+ B.rotate_z(P2w);
+ B.rotate_vector(P3w);
+ rotation_matrix.multiply(B);
+
+ //rotating to set P3 on the Oxy plane
+ TranslationRotationMatrix C;
+ C.rotate_x(P3w);
+ rotation_matrix.multiply(C);
+ }
+
+ /**
+ * Fills in rotation_matrix so that the bipoint PP1, PP2 is on the Ox axis.
+ */
+ static void Rotate3DBipoint(const double* PP1,const double*PP2, TranslationRotationMatrix& rotation_matrix)
+ {
+ double P1w[3];
+ double P2w[3];
+ P2w[0]=PP2[0]; P2w[1]=PP2[1];P2w[2]=PP2[2];
+
+ // translating to set P1 at the origin
+ for (int i=0; i<3; i++)
+ {
+ P1w[i] = -PP1[i];
+ P2w[i] -= PP1[i];
+ }
+
+ //initializes
+ rotation_matrix.translate(P1w);
+
+ // rotating to set P2 on the Oxy plane
+ TranslationRotationMatrix A;
+ A.rotate_x(P2w);
+ rotation_matrix.multiply(A);
+
+ //rotating to set P2 on the Ox axis
+ TranslationRotationMatrix B;
+ B.rotate_z(P2w);
+ rotation_matrix.multiply(B);
+ }
+
+
+
private:
static const double EPS;
static const unsigned ROT_SIZE=9;
