1 /*
2 * Licensed to the Apache Software Foundation (ASF) under one or more
3 * contributor license agreements. See the NOTICE file distributed with
4 * this work for additional information regarding copyright ownership.
5 * The ASF licenses this file to You under the Apache License, Version 2.0
6 * (the "License"); you may not use this file except in compliance with
7 * the License. You may obtain a copy of the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 */
17 package org.apache.commons.geometry.euclidean.threed.rotation;
18
19 import java.util.function.UnaryOperator;
20
21 import org.apache.commons.geometry.euclidean.threed.Vector3D;
22
23 /**
24 * A collection of standard vector rotation operators implemented as
25 * {@link UnaryOperator}s. These can be used to test rotation algorithms.
26 */
27 public final class StandardRotations {
28
29 /** The identity rotation; the input vector is returned unchanged. */
30 public static final UnaryOperator<Vector3D> IDENTITY = v -> v;
31
32 /** Rotates {@code pi/2} around the {@code +x} axis */
33 public static final UnaryOperator<Vector3D> PLUS_X_HALF_PI = v -> Vector3D.of(v.getX(), -v.getZ(), v.getY());
34
35 /** Rotates {@code pi/2} around the {@code -x} axis */
36 public static final UnaryOperator<Vector3D> MINUS_X_HALF_PI = v -> Vector3D.of(v.getX(), v.getZ(), -v.getY());
37
38 /** Rotates {@code pi} around the {@code x} axis (+x and -x are the same) */
39 public static final UnaryOperator<Vector3D> X_PI = v -> Vector3D.of(v.getX(), -v.getY(), -v.getZ());
40
41 /** Rotates {@code pi/2} around the {@code +y} axis */
42 public static final UnaryOperator<Vector3D> PLUS_Y_HALF_PI = v -> Vector3D.of(v.getZ(), v.getY(), -v.getX());
43
44 /** Rotates {@code pi/2} around the {@code -y} axis */
45 public static final UnaryOperator<Vector3D> MINUS_Y_HALF_PI = v -> Vector3D.of(-v.getZ(), v.getY(), v.getX());
46
47 /** Rotates {@code pi} around the {@code y} axis (+y and -y are the same) */
48 public static final UnaryOperator<Vector3D> Y_PI = v -> Vector3D.of(-v.getX(), v.getY(), -v.getZ());
49
50 /** Rotates {@code pi/2} around the {@code -y} axis */
51 public static final UnaryOperator<Vector3D> PLUS_Z_HALF_PI = v -> Vector3D.of(-v.getY(), v.getX(), v.getZ());
52
53 /** Rotates {@code pi/2} around the {@code -y} axis */
54 public static final UnaryOperator<Vector3D> MINUS_Z_HALF_PI = v -> Vector3D.of(v.getY(), -v.getX(), v.getZ());
55
56 /** Rotates {@code pi} around the {@code y} axis (+y and -y are the same) */
57 public static final UnaryOperator<Vector3D> Z_PI = v -> Vector3D.of(-v.getX(), -v.getY(), v.getZ());
58
59 /** Rotates {@code 2pi/3} around the {@code (1, 1, 1)} axis */
60 public static final UnaryOperator<Vector3D> PLUS_DIAGONAL_TWO_THIRDS_PI = v ->
61 Vector3D.of(v.getZ(), v.getX(), v.getY());
62
63 /** Rotates {@code 2pi/3} around the {@code (-1, -1, -1)} axis */
64 public static final UnaryOperator<Vector3D> MINUS_DIAGONAL_TWO_THIRDS_PI = v ->
65 Vector3D.of(v.getY(), v.getZ(), v.getX());
66
67 /** Private constructor. */
68 private StandardRotations() {}
69 }