/// <summary>
/// Initializes coordinate system using origin point and two double arrays.
/// </summary>
/// <param name="p">Origin of the coordinate system.</param>
/// <param name="d1">Vector oriented along the X axis.</param>
/// <param name="d2">Vector in the XY plane.</param>
/// <param name="name">Name of the coordinate system.</param>
public Coord3d(Point3d p, double[] d1, double[] d2, string name = "")
{
Vector3d v1 = new Vector3d(d1);
Vector3d v2 = new Vector3d(d2);
if (v1.IsParallelTo(v2))
{
throw new Exception("Vectors are parallel");
}
v1 = v1.Normalized;
Vector3d v3 = v1.Cross(v2).Normalized;
v2 = v3.Cross(v1).Normalized;
_origin = p.ConvertToGlobal();
_axes = new Matrix3d(v1, v2, v3);
if ((!string.IsNullOrEmpty(name)))
{
_name = name;
}
else
{
_name = "Coord " + count.ToString();
}
count += 1;
}
/// <summary>
/// Initializes coordinate system using three points.
/// </summary>
/// <param name="p1">Origin of the coordinate system.</param>
/// <param name="p2">Point on the X axis.</param>
/// <param name="p3">Point on the XY plane.</param>
/// <param name="name">Name of the coordinate system.</param>
public Coord3d(Point3d p1, Point3d p2, Point3d p3, string name = "")
{
Vector3d v1 = new Vector3d(p1, p2);
Vector3d v2 = new Vector3d(p1, p3);
if (v1.IsParallelTo(v2))
{
throw new Exception("Points are collinear");
}
v1 = v1.ConvertToGlobal().Normalized;
Vector3d v3 = v1.Cross(v2).Normalized;
v2 = v3.Cross(v1).Normalized;
_origin = p1.ConvertToGlobal();
_axes = new Matrix3d(v1, v2, v3);
if ((!string.IsNullOrEmpty(name)))
{
_name = name;
}
else
{
_name = "Coord " + count.ToString();
}
count += 1;
}
/// <summary>
/// Point on axis aligned box (including interior points) closest to target point "p".
/// </summary>
public Point3d AABBClosestPoint(Point3d p)
{
p = p.ConvertToGlobal();
double x = GeometRi3D.Clamp(p.X, this._center.X - _lx / 2, this._center.X + _lx / 2);
double y = GeometRi3D.Clamp(p.Y, this._center.Y - _ly / 2, this._center.Y + _ly / 2);
double z = GeometRi3D.Clamp(p.Z, this._center.Z - _lz / 2, this._center.Z + _lz / 2);
return(new Point3d(x, y, z));
}
/// <summary>
/// Convert point to reference coordinate system
/// </summary>
public Point3d ConvertTo(Coord3d coord)
{
Point3d p = this.Copy();
p = p.ConvertToGlobal();
if (coord == null || object.ReferenceEquals(coord, Coord3d.GlobalCS))
{
return(p);
}
p = coord.Axes * (p - coord.Origin);
p._coord = coord;
return(p);
}
/// <summary>
/// Initializes coordinate system using origin point and transformation matrix.
/// </summary>
/// <param name="p">Origin of the coordinate system.</param>
/// <param name="m">Transformation matrix (in row format).</param>
/// <param name="name">Name of the coordinate system.</param>
public Coord3d(Point3d p, Matrix3d m, string name = "")
{
if (!m.IsOrthogonal)
{
throw new ArgumentException("The matrix is not orthogonal");
}
_origin = p.ConvertToGlobal();
_axes = m.Copy();
if ((!string.IsNullOrEmpty(name)))
{
_name = name;
}
else
{
_name = "Coord " + count.ToString();
}
count += 1;
}
