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 org.apache.commons.geometry.euclidean.EuclideanTransform;
20 import org.apache.commons.geometry.euclidean.threed.Vector3D;
21
22 /** Interface representing a generic rotation in 3-dimensional Euclidean
23 * space.
24 */
25 public interface Rotation3D extends EuclideanTransform<Vector3D> {
26
27 /** Apply this rotation to the given argument. Since rotations do
28 * not affect vector magnitudes, this method can be applied to
29 * both points and vectors.
30 * @param vec the point or vector to rotate
31 * @return a new instance representing the rotated point or vector
32 */
33 @Override
34 Vector3D apply(Vector3D vec);
35
36 /** Get the inverse rotation.
37 * @return the inverse rotation.
38 */
39 @Override
40 Rotation3D inverse();
41
42 /** Get the axis of rotation as a normalized {@link Vector3D}.
43 *
44 * <p>All 3-dimensional rotations and sequences of rotations can be reduced
45 * to a single rotation around one axis. This method returns that axis.
46 *
47 * @return the axis of rotation
48 * @see #getAngle()
49 */
50 Vector3D getAxis();
51
52 /** Get the angle of rotation in radians.
53 *
54 * <p>All 3-dimensional rotations and sequences of rotations can be reduced
55 * to a single rotation around one axis. This method returns the angle of
56 * rotation around that axis.
57 *
58 * @return angle of rotation in radians.
59 * @see #getAxis()
60 */
61 double getAngle();
62 }