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[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz #568

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[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz #568

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c3603fe
[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz
Naoki-Hiraoka May 24, 2020
85c060d
[irtgeo.l] fix documentation of :difference-position and :difference-…
Naoki-Hiraoka May 25, 2020
815f8b4
[iregeo.l :difference-rotation] use let, and fix 0 norm condition
Naoki-Hiraoka May 25, 2020
85d63f9
[doc/irtmodel.tex]add document for translation/rotation-axis
Naoki-Hiraoka May 26, 2020
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17 changes: 15 additions & 2 deletions irteus/irtgeo.l
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
)
(:difference-position
(coords &key (translation-axis t))
"return difference in position of given coords, translation-axis can take (:x, :y, :z, :xy, :yz, :zx)."
"return difference in position of given coords, translation-axis can take (:x, :y, :z, :xy, :yz, :zx, :yx, :zy, :xz)."
(let ((dif-pos
(send self :inverse-transform-vector (send coords :worldpos))))
(case
Expand All @@ -69,7 +69,7 @@
dif-pos))
(:difference-rotation
(coords &key (rotation-axis t))
"return difference in rotation of given coords, rotation-axis can take (:x, :y, :z, :xx, :yy, :zz, :xm, :ym, :zm)"
"return difference in rotation of given coords, rotation-axis can take (:x, :y, :z, :xy, :yz, :zx, :yx, :zy, :xz, :xx, :yy, :zz, :xm, :ym, :zm)"
(labels
((need-mirror-for-nearest-axis
(coords0 coords1 axis)
Expand All @@ -88,6 +88,19 @@
(setq dif-rot
(transform (transpose (send self :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1))))))
((:xy :yx :yz :zy :zx :xz)
(setq a0 (send self :axis (case rotation-axis ((:xy :yx) :z) ((:yz :zy) :x) ((:zx :xz) :y)))
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How about use 'let'. The following code is my suggestion.

((:xy :yx :yz :zy :zx :xz)
        (let ((ax1 (case rotation-axis ((:xy :yx) :z) ((:yz :zy) :x) ((:zx :xz) :y)))
              (ax2 (case rotation-axis ((:xy :yx) :x) ((:yz :zy) :y) ((:zx :xz) :z))))
          (setq a0 (send self :axis ax1)
                a1 (send coords :axis ax1))
          (setq dif-rot
                (transform (transpose (send self :worldrot))
                           (scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1)))))
          (let ((self-coords (send (send self :copy-worldcoords) :rotate (norm dif-rot) dif-rot)))
            (setq a0 (send self-coords :axis ax2)
                  a1 (send coords :axis ax2))
            (setq dif-rot
                  (transform (transpose (send self-coords :worldrot))
                             (scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1))))))))

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Thank you. I fixed. 815f8b4

a1 (send coords :axis (case rotation-axis ((:xy :yx) :z) ((:yz :zy) :x) ((:zx :xz) :y))))
(setq dif-rot
(transform (transpose (send self :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1)))))
(let ((self-coords (send (send self :copy-worldcoords) :rotate (norm dif-rot) dif-rot)))
(setq a0 (send self-coords :axis (case rotation-axis ((:xy :yx) :x) ((:yz :zy) :y) ((:zx :xz) :z)))
a1 (send coords :axis (case rotation-axis ((:xy :yx) :x) ((:yz :zy) :y) ((:zx :xz) :z))))
(setq dif-rot
(transform (transpose (send self-coords :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1))))))
)
((:xx :yy :zz)
(let ((axis (case rotation-axis (:xx :x) (:yy :y) (:zz :z))) a0 a2)
(setq a0 (send self :axis axis))
Expand Down