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    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  }