/** *                     RESTRICTED RIGHTS LEGEND * *                        BBNT Solutions LLC *                        A Verizon Company *                        10 Moulton Street *                       Cambridge, MA 02138 *                         (617) 873-3000 * * Copyright BBNT Solutions LLC 2001, 2002 All Rights Reserved * */package com.bbn.openmap.geo;/** * Defines a 3-D rotation, M, such that the matrix multiplication, Mv, * rotates vector v an angle ,angle, counter clockwise about the Geo, * g. See Newman and Sproull, 1973, Principles of Interactive Computer * Garaphics, McGraw-Hill, New York, 463-465. */public class Rotation {    protected Geo g;    double m00, m11, m22, m01, m10, m12, m21, m02, m20;    public Rotation(Geo g, double angle) {        this.g = g;        this.setAngle(angle);    }    private void setAngle(double angle) {        double x = g.x();        double y = g.y();        double z = g.z();        double c = Math.cos(angle);        double s = Math.sin(angle);        double b = 1.0 - c;        double bx = b * x;        double by = b * y;        double bz = b * z;        double bxx = bx * x;        double bxy = bx * y;        double bxz = bx * z;        double byy = by * y;        double byz = by * z;        double bzz = bz * z;        double sx = s * x;        double sy = s * y;        double sz = s * z;        m00 = c + bxx;        m11 = c + byy;        m22 = c + bzz;        m01 = (-sz) + bxy;        m10 = sz + bxy;        m12 = (-sx) + byz;        m21 = sx + byz;        m02 = sy + bxz;        m20 = (-sy) + bxz;        /**         * System.out.println (" Rotation " + m00 + " " + m11 + " " +         * m22 + "\n" + m01 + " " + m10 + " " + m12 + "\n" + m21 + " " +         * m02 + " " + m20);         */    }    public Geo rotate(Geo v) {        double x = v.x(), y = v.y(), z = v.z();        return new Geo(m00 * x + m01 * y + m02 * z,                       m10 * x + m11 * y + m12 * z,                       m20 * x + m21 * y + m22 * z);    }}