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 }