affine_transform.h

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//    |  /           |
//    ' /   __| _` | __|  _ \   __|
//    . \  |   (   | |   (   |\__ `
//   _|\_\_|  \__,_|\__|\___/ ____/
//                   Multi-Physics
//
//  License:        BSD License
//                  Kratos default license: kratos/license.txt
//
//  Main Authors:   Máté Kelemen
//
 
#pragma once
 
// Project includes
#include "utilities/quaternion.h"
 
namespace Kratos
{
 
 
namespace Detail {
 
 
} // namespace Detail
 
 
 
class KRATOS_API(MESH_MOVING_APPLICATION) AffineTransform
{
public:
 
    KRATOS_CLASS_POINTER_DEFINITION(AffineTransform);
 
 
    AffineTransform();
 
    AffineTransform(const array_1d<double,3>& rAxis,
                    const double angle,
                    const array_1d<double,3>& rReferencePoint,
                    const array_1d<double,3>& rTranslationVector);
 
    AffineTransform(const array_1d<double,3>& rEulerAngles,
                    const array_1d<double,3>& rReferencePoint,
                    const array_1d<double,3>& rTranslationVector);
 
    AffineTransform(const Quaternion<double>& rQuaternion,
                    const array_1d<double,3>& rReferencePoint,
                    const array_1d<double,3>& rTranslationVector);
 
 
    void SetRotation(const array_1d<double,3>& rAxis,
                     const double angle,
                     const array_1d<double,3>& rReferencePoint);
 
    void SetRotation(const array_1d<double,3>& rEulerAngles,
                     const array_1d<double,3>& rReferencePoint);
 
    void SetRotation(const Quaternion<double>& rQuaternion,
                     const array_1d<double,3>& rReferencePoint);
 
    void SetTranslation(const array_1d<double,3>& rTranslationVector);
 
    array_1d<double,3> Apply(const array_1d<double,3>& rPoint) const
    {
        return prod(mRotationMatrix, rPoint - mReferencePoint) + mReferencePoint + mTranslationVector;
    }
 
 
protected:
 
    array_1d<double,3> mReferencePoint;
 
    array_1d<double,3> mTranslationVector;
 
    Matrix mRotationMatrix;
 
}; // class AffineTransform
 
 
 
} // namespace Kratos