diff --git a/GeoLib/AnalyticalGeometry-impl.h b/GeoLib/AnalyticalGeometry-impl.h
new file mode 100644
index 0000000000000000000000000000000000000000..4028729b4169383b4c45e561b195815d0a75e8f4
--- /dev/null
+++ b/GeoLib/AnalyticalGeometry-impl.h
@@ -0,0 +1,106 @@
+/**
+ * \copyright
+ * Copyright (c) 2012-2015, OpenGeoSys Community (http://www.opengeosys.org)
+ * Distributed under a Modified BSD License.
+ * See accompanying file LICENSE.txt or
+ * http://www.opengeosys.org/project/license
+ *
+ */
+
+namespace GeoLib
+{
+
+template <class T_POINT>
+void getNewellPlane (const std::vector<T_POINT*>& pnts,
+ MathLib::Vector3 &plane_normal,
+ double& d)
+{
+ d = 0;
+ MathLib::Vector3 centroid;
+ std::size_t n_pnts(pnts.size());
+ for (size_t i(n_pnts - 1), j(0); j < n_pnts; i = j, j++) {
+ plane_normal[0] += ((*(pnts[i]))[1] - (*(pnts[j]))[1])
+ * ((*(pnts[i]))[2] + (*(pnts[j]))[2]); // projection on yz
+ plane_normal[1] += ((*(pnts[i]))[2] - (*(pnts[j]))[2])
+ * ((*(pnts[i]))[0] + (*(pnts[j]))[0]); // projection on xz
+ plane_normal[2] += ((*(pnts[i]))[0] - (*(pnts[j]))[0])
+ * ((*(pnts[i]))[1] + (*(pnts[j]))[1]); // projection on xy
+
+ centroid += *(pnts[j]);
+ }
+
+ plane_normal.normalize();
+ d = MathLib::scalarProduct(centroid, plane_normal) / n_pnts;
+}
+
+template<class T_MATRIX>
+void compute2DRotationMatrixToX(MathLib::Vector3 const& v,
+ T_MATRIX & rot_mat)
+{
+ const double cos_theta = v[0];
+ const double sin_theta = v[1];
+ rot_mat(0,0) = rot_mat(1,1) = cos_theta;
+ rot_mat(0,1) = sin_theta;
+ rot_mat(1,0) = -sin_theta;
+}
+
+template <class T_MATRIX>
+void compute3DRotationMatrixToX(MathLib::Vector3 const& v,
+ T_MATRIX & rot_mat)
+{
+ // a vector on the plane
+ MathLib::Vector3 yy(0, 0, 0);
+ if (fabs(v[0]) > 0.0 && fabs(v[1]) + fabs(v[2]) < std::numeric_limits<double>::epsilon()) {
+ yy[2] = 1.0;
+ } else if (fabs(v[1]) > 0.0 && fabs(v[0]) + fabs(v[2]) < std::numeric_limits<double>::epsilon()) {
+ yy[0] = 1.0;
+ } else if (fabs(v[2]) > 0.0 && fabs(v[0]) + fabs(v[1]) < std::numeric_limits<double>::epsilon()) {
+ yy[1] = 1.0;
+ } else {
+ for (unsigned i = 0; i < 3; i++) {
+ if (fabs(v[i]) > 0.0) {
+ yy[i] = -v[i];
+ break;
+ }
+ }
+ }
+ // z"_vec
+ MathLib::Vector3 zz(MathLib::crossProduct(v, yy));
+ zz.normalize();
+ // y"_vec
+ yy = MathLib::crossProduct(zz, v);
+ yy.normalize();
+
+ for (unsigned i=0; i<3; ++i) {
+ rot_mat(0, i) = v[i];
+ rot_mat(1, i) = yy[i];
+ rot_mat(2, i) = zz[i];
+ }
+}
+
+template <class T_MATRIX>
+void computeRotationMatrixToXY2(const std::vector<MathLib::Point3d*> &vec_pt,
+ T_MATRIX & rot_mat)
+{
+ assert(vec_pt.size()>2);
+ // x"_vec
+ MathLib::Vector3 xx((*vec_pt[0]), (*vec_pt[1]));
+ xx.normalize();
+ // a vector on the plane
+ MathLib::Vector3 yy((*vec_pt[1]), (*vec_pt[2]));
+ // z"_vec
+ MathLib::Vector3 zz(MathLib::crossProduct(xx, yy));
+ zz.normalize();
+ // y"_vec
+ yy = MathLib::crossProduct(zz, xx);
+ yy.normalize();
+
+ for (size_t i=0; i<3; ++i) {
+ rot_mat(0, i) = xx[i];
+ rot_mat(1, i) = yy[i];
+ rot_mat(2, i) = zz[i];
+ }
+}
+
+} // end namespace GeoLib
+
diff --git a/GeoLib/AnalyticalGeometry.cpp b/GeoLib/AnalyticalGeometry.cpp
index d651df8b41aaab8f78dcbfabee6853333f3ac36a..bd9900cdd2e7c9983d0219a653172b873d471d71 100644
--- a/GeoLib/AnalyticalGeometry.cpp
+++ b/GeoLib/AnalyticalGeometry.cpp
@@ -348,27 +348,6 @@ double calcTetrahedronVolume(MathLib::Point3d const& x1,
return std::abs(GeoLib::scalarTriple(ac, ad, ab)) / 6.0;
}
-// NewellPlane from book Real-Time Collision detection p. 494
-void getNewellPlane(const std::vector<GeoLib::Point*>& pnts, MathLib::Vector3 &plane_normal, double& d)
-{
- d = 0;
- MathLib::Vector3 centroid;
- size_t n_pnts(pnts.size());
- for (size_t i(n_pnts - 1), j(0); j < n_pnts; i = j, j++) {
- plane_normal[0] += ((*(pnts[i]))[1] - (*(pnts[j]))[1])
- * ((*(pnts[i]))[2] + (*(pnts[j]))[2]); // projection on yz
- plane_normal[1] += ((*(pnts[i]))[2] - (*(pnts[j]))[2])
- * ((*(pnts[i]))[0] + (*(pnts[j]))[0]); // projection on xz
- plane_normal[2] += ((*(pnts[i]))[0] - (*(pnts[j]))[0])
- * ((*(pnts[i]))[1] + (*(pnts[j]))[1]); // projection on xy
-
- centroid += *(pnts[j]);
- }
-
- plane_normal *= 1.0 / plane_normal.getLength();
- d = MathLib::scalarProduct(centroid, plane_normal) / n_pnts;
-}
-
void computeRotationMatrixToXY(MathLib::Vector3 const& n,
MathLib::DenseMatrix<double> & rot_mat)
{
diff --git a/GeoLib/AnalyticalGeometry.h b/GeoLib/AnalyticalGeometry.h
index 1198202138b4b9b7464f52ccb4a3f7814a7f75a8..d3be61c4469be5d60a11cc64a66d5dce71480d14 100644
--- a/GeoLib/AnalyticalGeometry.h
+++ b/GeoLib/AnalyticalGeometry.h
@@ -60,10 +60,27 @@ Orientation getOrientation (const GeoLib::Point* p0,
* @param plane_normal the normal of the plane the polygon is located in
* @param d parameter from the plane equation
*/
-void getNewellPlane (const std::vector<GeoLib::Point*>& pnts,
+template <class T_POINT>
+void getNewellPlane (const std::vector<T_POINT*>& pnts,
MathLib::Vector3 &plane_normal,
double& d);
+/**
+ * Computes a rotation matrix that rotates the given 2D normal vector parallel to X-axis
+ * @param v a 2D normal vector to be rotated
+ * @param rot_mat a 2x2 rotation matrix
+ */
+template<class T_MATRIX>
+void compute2DRotationMatrixToX(MathLib::Vector3 const& v, T_MATRIX & rot_mat);
+
+/**
+ * Computes a rotation matrix that rotates the given 3D normal vector parallel to X-axis
+ * @param v a 3D normal vector to be rotated
+ * @param rot_mat a 3x3 rotation matrix
+ */
+template <class T_MATRIX>
+void compute3DRotationMatrixToX(MathLib::Vector3 const& v, T_MATRIX & rot_mat);
+
/**
* Method computes the rotation matrix that rotates the given vector parallel to the \f$z\f$ axis.
* @param plane_normal the (3d) vector that is rotated parallel to the \f$z\f$ axis
@@ -72,6 +89,15 @@ void getNewellPlane (const std::vector<GeoLib::Point*>& pnts,
void computeRotationMatrixToXY(MathLib::Vector3 const& plane_normal,
MathLib::DenseMatrix<double> & rot_mat);
+/**
+ * Method computes the rotation matrix that rotates the given vector parallel to the \f$z\f$ axis.
+ * @param vec_pt a vector of 3d points that is rotated parallel to the \f$z\f$ axis
+ * @param rot_mat 3x3 rotation matrix
+ */
+template <class T_MATRIX>
+void computeRotationMatrixToXY2(const std::vector<MathLib::Point3d*> &vec_pt,
+ T_MATRIX & rot_mat);
+
/**
* Method computes the rotation matrix that rotates the given vector parallel to the \f$y\f$ axis.
* @param plane_normal the (3d) vector that is rotated parallel to the \f$y\f$ axis
@@ -296,4 +322,6 @@ GeoLib::Polygon rotatePolygonToXY(GeoLib::Polygon const& polygon_in,
} // end namespace GeoLib
+#include "AnalyticalGeometry-impl.h"
+
#endif /* ANALYTICAL_GEOMETRY_H_ */