Add rotation and translations methods.

README.md

@@ -85,6 +85,7 @@ This roadmap outlines upcoming features and enhancements for ForCAD. Contributio
     - [x] Add `put_to_nurbs()` method for volumes.
     - [x] Get IGA elements connectivity.
     - [x] Add predefined shapes: `Circle`, `Tetragon`, `Hexahedron`.
+    - [x] Add `rotate_Xc` and `rotate_Xg` methods for curves, surfaces and volumes. 
     - [x] Add basic unit tests.
     - [x] Add simple examples.
 

src/forcad_nurbs_curve.f90

@@ -5,7 +5,7 @@ module forcad_nurbs_curve
 
     use forcad_utils, only: rk, basis_bspline, elemConn_C0, compute_multiplicity, compute_knot_vector, basis_bspline_der,&
         insert_knot_A_5_1, findspan, elevate_degree_A_5_9, remove_knots_A_5_8, &
-        elemConn_Cn, unique
+        elemConn_Cn, unique, rotation
 
     implicit none
 
@@ -65,6 +65,10 @@ module forcad_nurbs_curve
         procedure :: basis                 !!> Compute the basis functions of the NURBS curve
         procedure :: is_rational           !!> Check if the NURBS curve is rational
         procedure :: remove_knots          !!> Remove knots from the knot vector
+        procedure :: rotate_Xc             !!> Rotate control points
+        procedure :: rotate_Xg             !!> Rotate geometry points
+        procedure :: translate_Xc          !!> Translate control points
+        procedure :: translate_Xg          !!> Translate geometry points
 
         ! Shapes
         procedure :: set_circle            !!> Set a circle
@@ -1025,4 +1029,64 @@ pure function cmp_elem(this) result(elemConn)
     end function
     !===============================================================================
 
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xc(this, alpha, beta, theta)
+        class(nurbs_curve), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%nc
+            this%Xc(i, :) = matmul(rotation(alpha,beta,theta), this%Xc(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xg(this, alpha, beta, theta)
+        class(nurbs_curve), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%ng
+            this%Xg(i, :) = matmul(rotation(alpha,beta,theta), this%Xg(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xc(this, vec)
+        class(nurbs_curve), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%nc
+            this%Xc(i, :) = this%Xc(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xg(this, vec)
+        class(nurbs_curve), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%nc
+            this%Xg(i, :) = this%Xg(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
 end module forcad_nurbs_curve

src/forcad_nurbs_surface.f90

@@ -5,7 +5,7 @@ module forcad_nurbs_surface
 
     use forcad_utils, only: rk, basis_bspline, elemConn_C0, kron, ndgrid, compute_multiplicity, compute_knot_vector, &
         basis_bspline_der, insert_knot_A_5_1, findspan, elevate_degree_A_5_9, remove_knots_A_5_8, tetragon_Xc, &
-        elemConn_Cn, unique
+        elemConn_Cn, unique, rotation
 
     implicit none
 
@@ -69,6 +69,10 @@ module forcad_nurbs_surface
         procedure :: elevate_degree         !!> Elevate degree
         procedure :: is_rational            !!> Check if the NURBS surface is rational
         procedure :: remove_knots           !!> Remove knots from the knot vector
+        procedure :: rotate_Xc              !!> Rotate control points
+        procedure :: rotate_Xg              !!> Rotate geometry points
+        procedure :: translate_Xc           !!> Translate control points
+        procedure :: translate_Xg           !!> Translate geometry points
 
         ! Shapes
         procedure :: set_tetragon           !!> Set a tetragon
@@ -1513,4 +1517,64 @@ pure function cmp_elem(this) result(elemConn)
     end function
     !===============================================================================
 
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xc(this, alpha, beta, theta)
+        class(nurbs_surface), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%nc(1)*this%nc(2)
+            this%Xc(i, :) = matmul(rotation(alpha,beta,theta), this%Xc(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xg(this, alpha, beta, theta)
+        class(nurbs_surface), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%ng(1)*this%ng(2)
+            this%Xg(i, :) = matmul(rotation(alpha,beta,theta), this%Xg(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xc(this, vec)
+        class(nurbs_surface), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%nc(1)*this%nc(2)
+            this%Xc(i, :) = this%Xc(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xg(this, vec)
+        class(nurbs_surface), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%ng(1)*this%ng(2)
+            this%Xg(i, :) = this%Xg(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
 end module forcad_nurbs_surface

src/forcad_nurbs_volume.f90

@@ -5,7 +5,7 @@ module forcad_nurbs_volume
 
     use forcad_utils, only: rk, basis_bspline, elemConn_C0, kron, ndgrid, compute_multiplicity, compute_knot_vector, &
         basis_bspline_der, insert_knot_A_5_1, findspan, elevate_degree_A_5_9, hexahedron_Xc, remove_knots_A_5_8, &
-        elemConn_Cn, unique
+        elemConn_Cn, unique, rotation
 
     implicit none
 
@@ -72,6 +72,10 @@ module forcad_nurbs_volume
         procedure :: is_rational            !!> Check if the NURBS volume is rational
         procedure :: put_to_nurbs           !!> Put a shape to a NURBS volume
         procedure :: remove_knots           !!> Remove knots from the knot vector
+        procedure :: rotate_Xc              !!> Rotate control points
+        procedure :: rotate_Xg              !!> Rotate geometry points
+        procedure :: translate_Xc           !!> Translate control points
+        procedure :: translate_Xg           !!> Translate geometry points
 
         ! Shapes
         procedure :: set_hexahedron         !!> Set a hexahedron
@@ -1934,4 +1938,64 @@ pure function cmp_elem(this) result(elemConn)
     end function
     !===============================================================================
 
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xc(this, alpha, beta, theta)
+        class(nurbs_volume), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%nc(1)*this%nc(2)*this%nc(3)
+            this%Xc(i, :) = matmul(rotation(alpha,beta,theta), this%Xc(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine rotate_Xg(this, alpha, beta, theta)
+        class(nurbs_volume), intent(inout) :: this
+        real(rk), intent(in) :: alpha, beta, theta
+        integer :: i
+
+        do i = 1, this%ng(1)*this%ng(2)*this%ng(3)
+            this%Xg(i, :) = matmul(rotation(alpha,beta,theta), this%Xg(i, :))
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xc(this, vec)
+        class(nurbs_volume), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%nc(1)*this%nc(2)*this%nc(3)
+            this%Xc(i, :) = this%Xc(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure subroutine translate_Xg(this, vec)
+        class(nurbs_volume), intent(inout) :: this
+        real(rk), intent(in) :: vec(:)
+        integer :: i
+
+        do i = 1, this%ng(1)*this%ng(2)*this%ng(3)
+            this%Xg(i, :) = this%Xg(i, :) + vec
+        end do
+    end subroutine
+    !===============================================================================
+
 end module forcad_nurbs_volume

src/forcad_utils.f90

@@ -8,7 +8,7 @@ module forcad_utils
     private
     public :: rk, basis_bernstein, basis_bspline, elemConn_C0, kron, ndgrid, compute_multiplicity, compute_knot_vector, &
         basis_bspline_der, insert_knot_A_5_1, findspan, elevate_degree_A_5_9, hexahedron_Xc, tetragon_Xc, remove_knots_A_5_8, &
-        elemConn_Cn, unique
+        elemConn_Cn, unique, rotation
 
     integer, parameter :: rk = kind(1.0d0)
 
@@ -1022,4 +1022,24 @@ pure function unique_real(vec) result(unique)
     end function
     !===============================================================================
 
+
+    !===============================================================================
+    !> author: Seyed Ali Ghasemi
+    !> license: BSD 3-Clause
+    pure function rotation(alpha, beta, theta) result(R)
+        real(rk), intent(in) :: alpha, beta, theta
+        real(rk), dimension(3,3) :: R
+
+        R(1,1) = cosd(beta)*cosd(theta)
+        R(2,1) = cosd(beta)*sind(theta)
+        R(3,1) = -sind(beta)
+        R(1,2) = sind(alpha)*sind(beta)*cosd(theta) - cosd(alpha)*sind(theta)
+        R(2,2) = sind(alpha)*sind(beta)*sind(theta) + cosd(alpha)*cosd(theta)
+        R(3,2) = sind(alpha)*cosd(beta)
+        R(1,3) = cosd(alpha)*sind(beta)*cosd(theta) + sind(alpha)*sind(theta)
+        R(2,3) = cosd(alpha)*sind(beta)*sind(theta) - sind(alpha)*cosd(theta)
+        R(3,3) = cosd(alpha)*cosd(beta)
+    end function
+    !===============================================================================
+
 end module forcad_utils