org.dolben.iiid
Class R3

java.lang.Object
  org.dolben.iiid.R3

public class R3
extends java.lang.Object

Cross product and rotation matrix generators for 3D.
The components of a 3D vector are { x, y, z }. The generated matrices are "active rotations", i.e., applying one to a vector results in a vector rotated by the given angle around the axis in the original coordinate system.

Constructor Summary

R3()

Method Summary

static double[]	cross(double[] u, double[] v) Computes the cross product of two 3D vectors
static double[][]	rotationX(double theta) Generates a 3D matix for a rotation by an angle around the x axis.
static double[][]	rotationY(double theta) Generates a 3D matix for a rotation by an angle around the y axis.
static double[][]	rotationZ(double theta) Generates a 3D matix for a rotation by an angle around the z axis.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

R3

public R3()

Method Detail

cross

public static double[] cross(double[] u,
                             double[] v)

Computes the cross product of two 3D vectors

Parameters:

u - one vector

v - another vector

Returns:

the cross product

rotationX

public static double[][] rotationX(double theta)

Generates a 3D matix for a rotation by an angle around the x axis.

Parameters:

theta - an angle

Returns:

the rotation matrix

rotationY

public static double[][] rotationY(double theta)

Generates a 3D matix for a rotation by an angle around the y axis.

Parameters:

theta - an angle

Returns:

the rotation matrix

rotationZ

public static double[][] rotationZ(double theta)

Generates a 3D matix for a rotation by an angle around the z axis.

Parameters:

theta - an angle

Returns:

the rotation matrix