24 #include <geometry/line.h>
25 #include <utils/math/angle.h>
57 float z_angle = atan( mDirection.
y() / mDirection.
x() );
61 direction_xy.
z() = 0.0;
62 float y_angle = -atan( mDirection.
z() / direction_xy.length() );
65 mToRefCS.rotate_z(z_angle);
67 mToRefCS.rotate_y(y_angle);
69 mToRefCS.trans(mBasePoint.
x(), mBasePoint.
y(), mBasePoint.
z());
88 float z_angle = atan( mDirection.
y() / mDirection.
x() );
92 direction_xy.
z() = 0.0;
93 float y_angle = -atan( mDirection.
z() / direction_xy.length() );
96 mToRefCS.rotate_z(z_angle);
98 mToRefCS.rotate_y(y_angle);
100 mToRefCS.trans(mBasePoint.
x(), mBasePoint.
y(), mBasePoint.
z());
132 _apply_transform_ref(t);
147 _trans(trans_x, trans_y, trans_z);
162 _trans_ref(trans_x, trans_y, trans_z);
214 _rotate_x_ref(angle);
227 _rotate_y_ref(angle);
240 _rotate_z_ref(angle);