minor fix to Root rotations

cern-root-loader/src/commonMain/kotlin/ru/mipt/npm/root/dRootToSolid.kt

@@ -5,12 +5,17 @@ import space.kscience.dataforge.names.Name
 import space.kscience.dataforge.names.parseAsName
 import space.kscience.dataforge.names.plus
 import space.kscience.dataforge.names.withIndex
+import space.kscience.kmath.complex.Quaternion
+import space.kscience.kmath.geometry.fromRotationMatrix
+import space.kscience.kmath.linear.VirtualMatrix
 import space.kscience.visionforge.MutableVisionContainer
 import space.kscience.visionforge.isEmpty
 import space.kscience.visionforge.set
 import space.kscience.visionforge.solid.*
 import space.kscience.visionforge.solid.SolidMaterial.Companion.MATERIAL_COLOR_KEY
-import kotlin.math.*
+import kotlin.math.PI
+import kotlin.math.cos
+import kotlin.math.sin
 
 private val volumesName = Name.EMPTY //"volumes".asName()
 
@@ -28,12 +33,10 @@ private data class RootToSolidContext(
     val colorCache: MutableMap<Meta, String> = mutableMapOf(),
 )
 
-// converting to XYZ to Tait–Bryan angles according to https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
+// apply rotation from a matrix
 private fun Solid.rotate(rot: DoubleArray) {
-    val xAngle = atan2(-rot[5], rot[8])
+    val matrix = VirtualMatrix(3, 3) { i, j -> rot[i * 3 + j] }
-    val yAngle = atan2(rot[2], sqrt(1.0 - rot[2].pow(2)))
+    quaternion = Quaternion.fromRotationMatrix(matrix)
-    val zAngle = atan2(-rot[1], rot[0])
-    rotation = Float32Vector3D(xAngle, yAngle, zAngle)
 }
 
 private fun Solid.translate(trans: DoubleArray) {

demo/playground/src/jvmMain/kotlin/antenna.kt

@@ -15,13 +15,13 @@ import kotlin.math.sin
 
 fun main() = serve {
 
-    val azimuth = 60.degrees
+//    val azimuth = 60.degrees
-    val inclination = 15.degrees
+//    val inclination = 15.degrees
 
-    val direction = with(QuaternionField) {
+//    val direction = with(QuaternionField) {
-        Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
+//        Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
-                Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
+//                Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
-    }
+//    }
 
     //val direction2 = Quaternion.fromEuler(Angle.zero, Angle.piDiv2 - inclination, -azimuth, RotationOrder.ZYX)
 
@@ -43,7 +43,7 @@ fun main() = serve {
                 solidGroup("frame") {
                     z = 60
 
-                    val antenna = solidGroup("antenna") {
+                    solidGroup("antenna") {
                         axes(200)
                         tube(40, 10, 30)
                         sphereLayer(100, 95, theta = PI / 6) {

visionforge-solid/src/commonMain/kotlin/space/kscience/visionforge/solid/Solid.kt

@@ -206,7 +206,7 @@ public var Solid.rotationZ: Number by float(Z_ROTATION_KEY, 0f)
 /**
  * Raw quaternion value defined in properties
  */
-public var Solid.quaternionValue: Quaternion?
+public var Solid.quaternionOrNull: Quaternion?
     get() = properties.getValue(ROTATION_KEY)?.list?.let {
         require(it.size == 4) { "Quaternion must be a number array of 4 elements" }
         Quaternion(it[0].float, it[1].float, it[2].float, it[3].float)
@@ -229,14 +229,14 @@ public var Solid.quaternionValue: Quaternion?
  * Quaternion value including information from euler angles
  */
 public var Solid.quaternion: Quaternion
-    get() = quaternionValue ?: Quaternion.fromEuler(
+    get() = quaternionOrNull ?: Quaternion.fromEuler(
         rotationX.radians,
         rotationY.radians,
         rotationZ.radians,
         rotationOrder
     )
     set(value) {
-        quaternionValue = value
+        quaternionOrNull = value
     }
 
 public var Solid.scaleX: Number by float(X_SCALE_KEY, 1f)

visionforge-threejs/src/main/kotlin/space/kscience/visionforge/solid/three/ThreeFactory.kt

@@ -41,7 +41,7 @@ public fun Object3D.updatePosition(vision: Vision) {
     if (vision is Solid) {
         position.set(vision.x, vision.y, vision.z)
 
-        val quaternion = vision.quaternionValue
+        val quaternion = vision.quaternionOrNull
 
         if (quaternion != null) {
             setRotationFromQuaternion(