copapy.rotate_vector

copapy.rotate_vector(v, axis, angle)

Rotate vector v around a given axis by a specified angle using Rodrigues’ rotation formula.

Parameters:

• v (vector[float]) – The 3D vector to be rotated.

• axis (vector[float]) – A 3D vector defining the axis of rotation.

• angle (float | value[float]) – The angle of rotation in radians.

Return type:

vector[float]

Returns:

The rotated vector.