drawAxis3d

DRAWAXIS3D Draw a coordinate system and an origin.

   drawAxis3d
    Adds three 3D arrows to the current axis, corresponding to the 
    directions of the 3 basis vectors Ox, Oy and Oz.
    Ox vector is red, Oy vector is green, and Oz vector is blue.

   drawAxis3d(L, R)
   Specifies the length L and the radius of the cylinders representing the
   different axes.
   
   drawAxis3d(..., 'TFM', TRANSFORM)
   Transforms the coordinate system before drawing using TRANSFORM.

   H = drawAxis3d(...) returns the group handle of the axis object.

   Example
   drawAxis3d

   figure;
   drawAxis3d(20, 1);
   view([135,15]); lighting('phong'); camlight('head'); axis('equal')
   xlabel X; ylabel Y; zlabel Z

   See also
     drawAxisCube

0001 function varargout = drawAxis3d(varargin)
0002 %DRAWAXIS3D Draw a coordinate system and an origin.
0003 %
0004 %   drawAxis3d
0005 %    Adds three 3D arrows to the current axis, corresponding to the
0006 %    directions of the 3 basis vectors Ox, Oy and Oz.
0007 %    Ox vector is red, Oy vector is green, and Oz vector is blue.
0008 %
0009 %   drawAxis3d(L, R)
0010 %   Specifies the length L and the radius of the cylinders representing the
0011 %   different axes.
0012 %
0013 %   drawAxis3d(..., 'TFM', TRANSFORM)
0014 %   Transforms the coordinate system before drawing using TRANSFORM.
0015 %
0016 %   H = drawAxis3d(...) returns the group handle of the axis object.
0017 %
0018 %   Example
0019 %   drawAxis3d
0020 %
0021 %   figure;
0022 %   drawAxis3d(20, 1);
0023 %   view([135,15]); lighting('phong'); camlight('head'); axis('equal')
0024 %   xlabel X; ylabel Y; zlabel Z
0025 %
0026 %   See also
0027 %     drawAxisCube
0028 %
0029 
0030 % ------
0031 % Author: David Legland
0032 % E-mail: david.legland@inrae.fr
0033 % Created: 2007-08-14, using Matlab 7.4.0.287 (R2007a)
0034 % Copyright 2007-2024 INRA - BIA PV Nantes - MIAJ Jouy-en-Josas
0035 
0036 % extract handle of axis to draw on
0037 if isempty(varargin)
0038     hAx = gca;
0039 else
0040     if isAxisHandle(varargin{1})
0041         hAx = varargin{1};
0042         varargin(1) = [];
0043     else
0044         hAx = gca;
0045     end
0046 end
0047     
0048 
0049 % Parsing
0050 p = inputParser;
0051 addOptional(p, 'L', 1, @(x)validateattributes(x, {'numeric'},...
0052     {'scalar','nonempty','real','finite','positive','nonnan'}));
0053 addOptional(p, 'R', [], @(x)validateattributes(x, {'numeric'},...
0054     {'scalar','nonempty','real','finite','positive','nonnan'}));
0055 addParameter(p, 'TFM', eye(4), @isTransform3d);
0056 parse(p,varargin{:});
0057 
0058 L = p.Results.L;
0059 R = p.Results.R;
0060 if isempty(R)
0061     R = L/10;
0062 elseif R/L > 0.1
0063     R = (0.1-eps)*L;
0064     warning('Value of R is invalid and was ignored!')
0065 end
0066 TFM = p.Results.TFM;
0067 
0068 % geometrical data
0069 origin = transformPoint3d(zeros(3,3), TFM);
0070 vector = transformVector3d(eye(3,3), TFM);
0071 color = eye(3,3);
0072 
0073 % draw three arrows and a ball
0074 hold on;
0075 sh = drawArrow3d(hAx, origin, vector*L, color, 'arrowRadius', R/L);
0076 sh(4) = drawSphere(hAx, [origin(1,:) 2*R], 'faceColor', 'black');
0077 gh = hggroup(hAx);
0078 set(sh, 'Parent', gh)
0079 
0080 if nargout > 0
0081     varargout = {gh};
0082 end