/** * Rotate the oriented bounding box of the 3D image about the specified axis with the specified * angle. * * @param transform The transform and its matrix by which to rotate the image. */ public void rotateFrameBy(Transform3D transform) { double rY, rX, rZ; double sinrX, sinrY, sinrZ, cosrX, cosrY, cosrZ; Matrix3d matrix = new Matrix3d(); transform.get(matrix); rY = -Math.asin(matrix.m02); if (Math.cos(rY) != 0) { rX = -Math.atan2(matrix.m12, matrix.m22); rZ = Math.atan2(matrix.m01, matrix.m00); } else { rX = -Math.atan2(matrix.m10, matrix.m11); rZ = 0; } cosrX = Math.cos(rX); sinrX = Math.sin(rX); cosrY = Math.cos(rY); sinrY = Math.sin(rY); cosrZ = Math.cos(rZ); sinrZ = Math.sin(rZ); matrix.m00 = cosrZ * cosrY; matrix.m01 = -sinrZ * cosrY; matrix.m02 = sinrY; matrix.m10 = (cosrZ * sinrY * sinrX) + (sinrZ * cosrX); matrix.m11 = (-sinrZ * sinrY * sinrX) + (cosrZ * cosrX); matrix.m12 = -cosrY * sinrX; matrix.m20 = (-cosrZ * sinrY * cosrX) + (sinrZ * sinrX); matrix.m21 = (sinrZ * sinrY * cosrX) + (cosrZ * sinrX); matrix.m22 = cosrY * cosrX; m_kRotate.set(matrix); m_akAxis[0] = new Vector3f(1.0f, 0.0f, 0.0f); m_akAxis[1] = new Vector3f(0.0f, 1.0f, 0.0f); m_akAxis[2] = new Vector3f(0.0f, 0.0f, 1.0f); for (int i = 0; i < 3; i++) { m_kRotate.transform(m_akAxis[i]); } orthonormalize(m_akAxis); for (int i = 0; i < 3; i++) { setAxis(i, m_akAxis[i]); } }