/**
* @param theta rotation angle around the z-axis.
* @return rotated copy
*/
public Vector3d rotatedAboutZAxisBy(double theta) {
double theta_CCWRAD = AngleRelative.toCcwRad(theta);
double sin = Math.sin(theta_CCWRAD);
double cos = Math.cos(theta_CCWRAD);
double rotX = (x * cos) - (y * sin);
double rotY = (x * sin) + (y * cos);
return new Vector3d(rotX, rotY, z);
}
/**
* @param theta rotation angle around the x-axis.
* @return rotated copy
*/
public Vector3d rotatedAboutXAxisBy(double theta) {
double theta_CCWRAD = AngleRelative.toCcwRad(theta);
double sin = Math.sin(theta_CCWRAD);
double cos = Math.cos(theta_CCWRAD);
double rotY = (y * cos) - (z * sin);
double rotZ = (y * sin) + (z * cos);
return new Vector3d(x, rotY, rotZ);
}