From f2d7e20fd3258830aa84d7b19e75b399c6fd3ad9 Mon Sep 17 00:00:00 2001
From: Alexander Nozik <altavir@gmail.com>
Date: Wed, 7 Jun 2023 21:29:40 +0300
Subject: [PATCH] Add dynamic rotation example

---
 .../space/kscience/visionforge/solid/demo/demo.kt   | 13 +++++++++++--
 .../space/kscience/visionforge/solid/Solid.kt       |  5 +++--
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/demo/solid-showcase/src/commonMain/kotlin/space/kscience/visionforge/solid/demo/demo.kt b/demo/solid-showcase/src/commonMain/kotlin/space/kscience/visionforge/solid/demo/demo.kt
index 6f2cb61f..baee4c71 100644
--- a/demo/solid-showcase/src/commonMain/kotlin/space/kscience/visionforge/solid/demo/demo.kt
+++ b/demo/solid-showcase/src/commonMain/kotlin/space/kscience/visionforge/solid/demo/demo.kt
@@ -4,6 +4,8 @@ import kotlinx.coroutines.*
 import space.kscience.dataforge.meta.Meta
 import space.kscience.dataforge.meta.invoke
 import space.kscience.dataforge.names.Name
+import space.kscience.kmath.geometry.Euclidean3DSpace
+import space.kscience.kmath.geometry.radians
 import space.kscience.visionforge.Colors
 import space.kscience.visionforge.solid.*
 import space.kscience.visionforge.solid.specifications.Canvas3DOptions
@@ -103,8 +105,15 @@ fun VisionLayout<Solid>.showcase() {
         solidGroup {
             x = 200
             rotationY = PI / 4
+            axes(200)
             box(100, 100, 100) {
-                rotationZ = PI / 4
+                rotate((PI / 4).radians, Euclidean3DSpace.zAxis)
+                GlobalScope.launch(Dispatchers.Main) {
+                    while (isActive) {
+                        delay(100)
+                        rotate((PI/20).radians,Euclidean3DSpace.yAxis)
+                    }
+                }
                 color.set(Colors.red)
             }
         }
@@ -151,7 +160,7 @@ fun VisionLayout<Solid>.showcase() {
         }
     }
 
-    demo("STL", "STL loaded from URL"){
+    demo("STL", "STL loaded from URL") {
         stl("https://ozeki.hu/attachments/116/Menger_sponge_sample.stl")
     }
 }
diff --git a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
index a24192a8..c58b849d 100644
--- a/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
+++ b/visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt
@@ -9,6 +9,7 @@ import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.asName
 import space.kscience.dataforge.names.plus
 import space.kscience.kmath.complex.Quaternion
+import space.kscience.kmath.complex.QuaternionField
 import space.kscience.kmath.geometry.*
 import space.kscience.visionforge.*
 import space.kscience.visionforge.Vision.Companion.VISIBLE_KEY
@@ -245,6 +246,6 @@ public var Solid.scaleZ: Number by float(Z_SCALE_KEY, 1f)
 /**
  * Add rotation with given [angle] relative to given [axis]
  */
-public fun Solid.rotate(angle: Angle, axis: DoubleVector3D) {
-    quaternion = Quaternion.fromRotation(angle, axis)
+public fun Solid.rotate(angle: Angle, axis: DoubleVector3D) = with(QuaternionField) {
+    quaternion = Quaternion.fromRotation(angle, axis)*quaternion
 }
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