rotates a polytope in H-representation by given axis and angle Syntax: Hrep = rotateHrep(Hrep, axis, radian) or Hrep = rotateHrep(Hrep, 'vector', v) This function is for 3d polytopes only. The polytope is rotated around the axis 'x', 'y' or 'z' with the angle in radian (3D). With the case 'vector', the rotation matrix is calculated so that the normalized vector v matches the unit vector of the z-axis after rotation. This operation is not uniquely defined, because any subsequent rotation around the z-axis would still fulfill the requirement. rotateHrep3d(.., x0) specifies the fixed point x0 for the rotation. See also: rotatePolytope, getRotationMatrix3d, rotateHrep2d, rotateVrep3d
0001 function Hrep = rotateHrep3d(Hrep, axis, angle, x0) 0002 % rotates a polytope in H-representation by given axis and angle 0003 % 0004 % Syntax: Hrep = rotateHrep(Hrep, axis, radian) 0005 % or Hrep = rotateHrep(Hrep, 'vector', v) 0006 % 0007 % This function is for 3d polytopes only. The polytope is rotated around 0008 % the axis 'x', 'y' or 'z' with the angle in radian (3D). With the case 0009 % 'vector', the rotation matrix is calculated so that the normalized 0010 % vector v matches the unit vector of the z-axis after rotation. This 0011 % operation is not uniquely defined, because any subsequent rotation 0012 % around the z-axis would still fulfill the requirement. 0013 % 0014 % rotateHrep3d(.., x0) specifies the fixed point x0 for the rotation. 0015 % 0016 % See also: rotatePolytope, getRotationMatrix3d, rotateHrep2d, rotateVrep3d 0017 0018 % The elk-library: convex geometry applied to crystallization modeling. 0019 % Copyright (C) 2012 Alexander Reinhold 0020 % 0021 % This program is free software: you can redistribute it and/or modify it 0022 % under the terms of the GNU General Public License as published by the 0023 % Free Software Foundation, either version 3 of the License, or (at your 0024 % option) any later version. 0025 % 0026 % This program is distributed in the hope that it will be useful, but 0027 % WITHOUT ANY WARRANTY; without even the implied warranty of 0028 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0029 % General Public License for more details. 0030 % 0031 % You should have received a copy of the GNU General Public License along 0032 % with this program. If not, see <http://www.gnu.org/licenses/>. 0033 0034 if nargin < 4 0035 x0 = []; 0036 end 0037 0038 if isempty(x0) 0039 Hrep.A = (getRotationMatrix3d(axis, angle) * Hrep.A')'; 0040 else 0041 Hrep = moveHrep(Hrep, -x0); 0042 Hrep.A = (getRotationMatrix3d(axis, angle) * Hrep.A')'; 0043 Hrep = moveHrep(Hrep, x0); 0044 end 0045 0046 end