def rotate_z(self, angle: float, transform_all_input_vectors=False):
"""Rotate mesh about the z-axis.
Parameters
----------
angle : float
Angle in degrees to rotate about the z-axis.
"""
t = transformations.axis_angle_rotation((0, 0, 1), angle, deg=True)
self.transform(t, transform_all_input_vectors=transform_all_input_vectors, inplace=True)
def test_axis_angle_rotation():
# rotate cube corners around body diagonal
points = np.array([
[1, 0, 0],
[0, 1, 0],
[0, 0, 1],
])
axis = [1, 1, 1]
# no-op case
angle = 360
trans = transformations.axis_angle_rotation(axis, angle)
actual = transformations.apply_transformation_to_points(trans, points)
assert np.array_equal(actual, points)
# default origin
angle = np.radians(120)
expected = points[[1, 2, 0], :]
trans = transformations.axis_angle_rotation(axis, angle, deg=False)
actual = transformations.apply_transformation_to_points(trans, points)
assert np.allclose(actual, expected)
# non-default origin
p0 = [-2, -3, 4]
points += p0
expected += p0
trans = transformations.axis_angle_rotation(axis,
angle,
point=p0,
deg=False)
actual = transformations.apply_transformation_to_points(trans, points)
assert np.allclose(actual, expected)
# invalid cases
with pytest.raises(ValueError):
transformations.axis_angle_rotation([1, 0, 0, 0], angle)
with pytest.raises(ValueError):
transformations.axis_angle_rotation(axis, angle, point=[1, 0, 0, 0])
with pytest.raises(ValueError):
transformations.axis_angle_rotation([0, 0, 0], angle)