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Um vetor 3d com a cross product and rotate around axis

src/main/java/br/com/rafael/math/vector/Vector3D.java

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+package br.com.rafael.math.vector;
+/**
+ * Copyright© 2020 Victor Rafael Pereira Alves
+ *
+ * <p>This file is part of MathUtils.
+ *
+ * <p>MathUtils is free software: you can redistribute it and/or modify it under the terms of the
+ * Lesser GNU General Public License as published by the Free Software Foundation, either version 3
+ * of the License, or (at your option) any later version.
+ *
+ * <p>MathUtils is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
+ * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the Lesser
+ * GNU General Public License for more details.
+ *
+ * <p>You should have received a copy of the Lesser GNU General Public License along with MathUtils.
+ * If not, see &#60; https://www.gnu.org/licenses/ &#62; .
+ *
+ */
+
+import br.com.rafael.math.vector.Vector3D;
+import java.io.Serializable;
+
+public class Vector3D implements Cloneable, Comparable<Vector3D>, Serializable {
+
+  private static final long serialVersionUID = 0l;
+
+  private double _x;
+  private double _y;
+  private double _z;
+
+  public Vector3D() {
+    _x = _y = _z = 0;
+  }
+
+  public Vector3D(double x, double y, double z) {
+    _x = x;
+    _y = y;
+    _z = z;
+  }
+
+  public Vector3D(Vector2D plane) {
+    this(plane, 0);
+  }
+
+  public Vector3D(Vector2D plane, double depth) {
+    _x = plane.getX();
+    _y = plane.getY();
+    _z = depth;
+  }
+
+  public Vector3D(Vector3D old) {
+    _x = old._x;
+    _y = old._y;
+    _z = old._z;
+  }
+
+  public void setX(double x) {
+    _x = x;
+  }
+
+  public void setY(double y) {
+    _y = y;
+  }
+
+  public void setZ(double z) {
+    _z = z;
+  }
+
+  public double getX() {
+    return _x;
+  }
+
+  public double getY() {
+    return _y;
+  }
+
+  public double getZ() {
+    return _z;
+  }
+
+  public double size() {
+    return Math.sqrt(_x * _x + _y * _y + _z * _z);
+  }
+
+  public Vector3D negateMe() {
+    _x = -_x;
+    _y = -_y;
+    _z = -_z;
+    return this;
+  }
+
+  public Vector3D negate() {
+    return clone().negateMe();
+  }
+
+  public Vector3D addMe(Vector3D other) {
+    this._x += other._x;
+    this._y += other._y;
+    this._z += other._z;
+    return this;
+  }
+
+  public Vector3D add(Vector3D other) {
+    return clone().addMe(other);
+  }
+
+  public Vector3D subtractMe(Vector3D other) {
+    this._x -= other._x;
+    this._y -= other._y;
+    this._z -= other._z;
+    return this;
+  }
+
+  public Vector3D subtract(Vector3D other) {
+    return clone().subtractMe(other);
+  }
+
+  public Vector3D multiplyMe(double scalar) {
+    this._x *= scalar;
+    this._y *= scalar;
+    this._z *= scalar;
+    return this;
+  }
+
+  public Vector3D multiply(double scalar) {
+    return clone().multiplyMe(scalar);
+  }
+
+  public Vector3D divideMe(double scalar) {
+    this._x /= scalar;
+    this._y /= scalar;
+    this._z /= scalar;
+    return this;
+  }
+
+  public Vector3D divide(double scalar) {
+    return clone().divideMe(scalar);
+  }
+
+  public Vector3D normalizeMe() {
+    return divideMe(size());
+  }
+
+  public Vector3D normalize() {
+    return clone().normalizeMe();
+  }
+
+  public Vector3D resizeMe(float size) {
+    return normalizeMe().multiplyMe(size);
+  }
+
+  public Vector3D resize(float size) {
+    return clone().resizeMe(size);
+  }
+
+  public double distance(Vector3D other) {
+    return this.subtractMe(other).size();
+  }
+
+  public double dot(Vector3D other) {
+    return Math.sqrt(this._x * other._x + this._y * other._y + this._z * other._z);
+  }
+
+  public Vector3D crossMe(Vector3D other) {
+    double newX = this._y * other._z - this._z * other._y;
+    double newY = this._z * other._x - this._x * other._z;
+    double newZ = this._x * other._y - this._y * other._x;
+
+    this._x = newX;
+    this._y = newY;
+    this._z = newZ;
+
+    return this;
+  }
+
+  public Vector3D cross(Vector3D other) {
+    return this.clone().crossMe(other);
+  }
+
+  public Vector3D rotateMeX(double angle) {
+    double cos = Math.cos(angle);
+    double sin = Math.sin(angle);
+
+    double newY = cos * _y - sin * _z;
+    double newZ = sin * _y + cos * _z;
+
+    this._y = newY;
+    this._z = newZ;
+
+    return this;
+  }
+
+  public Vector3D rotateX(double angle) {
+    return clone().rotateMeX(angle);
+  }
+
+  public Vector3D rotateMeY(double angle) {
+    double cos = Math.cos(angle);
+    double sin = Math.sin(angle);
+
+    double newZ = cos * _z - sin * _x;
+    double newX = sin * _z + cos * _x;
+
+    this._x = newX;
+    this._z = newZ;
+
+    return this;
+  }
+
+  public Vector3D rotateY(double angle) {
+    return clone().rotateMeY(angle);
+  }
+
+  public Vector3D rotateMeZ(double angle) {
+    double cos = Math.cos(angle);
+    double sin = Math.sin(angle);
+
+    double newX = cos * _x - sin * _y;
+    double newY = sin * _x + cos * _y;
+
+    this._x = newX;
+    this._y = newY;
+
+    return this;
+  }
+
+  public Vector3D rotateZ(double angle) {
+    return clone().rotateMeZ(angle);
+  }
+
+  public Vector3D rotateMeAxis(Vector3D axis, double angle) {
+    double cos = Math.cos(angle);
+    double sin = Math.sin(angle);
+    double k = 1.0 - cos;
+
+    double newX = _x * (cos + k * axis._x * axis._x) + _y * (k * axis._x * axis._y - sin * axis._z) + _z * (k * axis._x * axis._z + sin * axis._y);
+
+    double newY = _x * (k * axis._x * axis._y + sin * axis._z) + _y * (cos + k * axis._y * axis._y) + _z * (k * axis._y * axis._z - sin * axis._x);
+
+    double newZ = _x * (k * axis._x * axis._z - sin * axis._y) + _y * (k * axis._y * axis._z + sin * axis._x) + _z * (cos + k * axis._z * axis._z);
+
+    _x = newX;
+    _y = newY;
+    _z = newZ;
+
+    return this;
+  }
+
+  public Vector3D rotateAxis(Vector3D axis, double angle) {
+    return this.clone().rotateMeAxis(axis, angle);
+  }
+
+  @Override
+  public Vector3D clone() {
+    try {
+      return (Vector3D) super.clone();
+    } catch (CloneNotSupportedException e) {
+      throw new AssertionError();
+    }
+  }
+
+  @Override
+  public int compareTo(Vector3D other) {
+    return (int) (this.size() - other.size());
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) return true;
+    if (!(o instanceof Vector3D)) return false;
+    Vector3D other = (Vector3D) o;
+    return _x == other._x && _y == other._y && _z == other._z;
+  }
+
+  @Override
+  public int hashCode() {
+    int result = 17;
+
+    result = result * 31 + hashDouble(_x);
+    result = result * 31 + hashDouble(_y);
+    result = result * 31 + hashDouble(_z);
+
+    return result;
+  }
+
+  private int hashDouble(double d) {
+    long longBits = Double.doubleToLongBits(d);
+    return (int) (longBits ^ (longBits >>> 32));
+  }
+
+  @Override
+  public String toString() {
+    return "{x: " + _x + ", y:" + _y + ", z: " + _z + "}";
+  }
+}