| /* |
| * Licensed to the Apache Software Foundation (ASF) under one or more |
| * contributor license agreements. See the NOTICE file distributed with |
| * this work for additional information regarding copyright ownership. |
| * The ASF licenses this file to You under the Apache License, Version 2.0 |
| * (the "License"); you may not use this file except in compliance with |
| * the License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| package org.apache.commons.geometry.euclidean.threed.rotation; |
| |
| import org.apache.commons.geometry.euclidean.threed.Transform3D; |
| import org.apache.commons.geometry.euclidean.threed.Vector3D; |
| |
| /** Interface representing a generic rotation in 3-dimensional Euclidean |
| * space. |
| */ |
| public interface Rotation3D extends Transform3D { |
| |
| /** Apply this rotation to the given argument. Since rotations do |
| * not affect vector magnitudes, this method can be applied to |
| * both points and vectors. |
| * @param vec the point or vector to rotate |
| * @return a new instance representing the rotated point or vector |
| */ |
| @Override |
| Vector3D apply(Vector3D vec); |
| |
| /** Get the axis of rotation as a normalized {@link Vector3D}. |
| * |
| * <p>All 3-dimensional rotations and sequences of rotations can be reduced |
| * to a single rotation around one axis. This method returns that axis. |
| * |
| * @return the axis of rotation |
| * @see #getAngle() |
| */ |
| Vector3D getAxis(); |
| |
| /** Get the angle of rotation in radians. |
| * |
| * <p>All 3-dimensional rotations and sequences of rotations can be reduced |
| * to a single rotation around one axis. This method returns the angle of |
| * rotation around that axis. |
| * |
| * @return angle of rotation in radians. |
| * @see #getAxis() |
| */ |
| double getAngle(); |
| |
| /** Get the inverse rotation. |
| * @return the inverse rotation. |
| */ |
| Rotation3D inverse(); |
| } |