transform.h

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#pragma once
#include "vde/core/point.h"
#include <Eigen/Geometry>
 
namespace vde::core {
 
using Transform3D = Eigen::Transform<double, 3, Eigen::Affine>;
 
inline Transform3D translate(const Vector3D& v) {
    return Transform3D(Eigen::Translation<double, 3>(v));
}
 
inline Transform3D translate(double x, double y, double z) {
    return translate(Vector3D(x, y, z));
}
 
inline Transform3D rotate(const Vector3D& axis, double angle_rad) {
    return Transform3D(Eigen::AngleAxis<double>(angle_rad, axis.normalized()));
}
 
inline Transform3D rotate_x(double rad) { return rotate(Vector3D::UnitX(), rad); }
 
inline Transform3D rotate_y(double rad) { return rotate(Vector3D::UnitY(), rad); }
 
inline Transform3D rotate_z(double rad) { return rotate(Vector3D::UnitZ(), rad); }
 
inline Transform3D scale(double sx, double sy, double sz) {
    return Transform3D(Eigen::Scaling(sx, sy, sz));
}
 
inline Transform3D scale(double s) { return scale(s, s, s); }
 
}  // namespace vde::core