[feat] Add Makie extension

Project.toml

@@ -10,9 +10,11 @@ RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [weakdeps]
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 RecipesBase = "3cdcf5f2-1ef4-517c-9805-6587b60abb01"
 
 [extensions]
+RotationsMakieExt = "Makie"
 RotationsRecipesBaseExt = "RecipesBase"
 
 [compat]
@@ -21,6 +23,7 @@ BenchmarkTools = "1"
 ForwardDiff = "0.10"
 InteractiveUtils = "1"
 LinearAlgebra = "1"
+Makie = "0.24"
 Plots = "1"
 Quaternions = "0.5.3, 0.6, 0.7"
 Random = "1"
@@ -36,6 +39,7 @@ BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Quaternions = "94ee1d12-ae83-5a48-8b1c-48b8ff168ae0"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"

docs/Project.toml

@@ -1,4 +1,5 @@
 [deps]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

docs/make.jl

@@ -1,10 +1,12 @@
 using Rotations
 using Documenter
+using Makie
 
 DocMeta.setdocmeta!(Rotations, :DocTestSetup, :(using Rotations); recursive=true)
 
+RotationsMakieExt = Base.get_extension(Rotations, :RotationsMakieExt)
 makedocs(;
-    modules=[Rotations],
+    modules=[Rotations, RotationsMakieExt],
     repo="https://github.com/JuliaGeometry/Rotations.jl/blob/{commit}{path}#{line}",
     sitename="Rotations.jl",
     format=Documenter.HTML(;

docs/src/visualizing.md

@@ -1,12 +1,75 @@
-# Visualizing Rotation
-In general, ``3 \times 3`` matrix has ``9`` parameters, so it's hard to visualize a matrix as a point.
-However, the Lie group ``SO(3)`` and ``SU(2)`` are ``3``-dimensional space, and it is able to visualize its element as a point in our ``3``-dimensional space.
+```@setup ext
+using Rotations, Makie
+Ext = Base.get_extension(Rotations, :RotationsMakieExt)
+```
+# Visualizing Rotations
 
-## using `MRP`
-(TBW)
+Visualizing rotations is crucial for understanding their behavior and effects. While a general ``3 \times 3`` rotation matrix has 9 parameters, rotations actually live on the 3-dimensional manifold ``SO(3)``, making them suitable for 3D visualization.
 
-## using `RodriguesParam`
-(TBW)
+This package provides plotting capabilities through [Makie.jl](https://makie.juliaplots.org/) via the `RotationsMakieExt` extension, which is automatically loaded when both `Rotations` and a Makie backend are available.
 
-## using `RotationVec`
-(TBW)
+## Plotting Rotation Matrices
+
+### Basic 2D Rotation Plotting
+
+```julia
+using Rotations
+using CairoMakie  # or GLMakie for interactive plots
+
+# Create a 2D rotation
+rot2d = RotMatrix{2}(π/4)  # 45-degree rotation
+
+# Plot the rotation
+fig, ax, plt = plot(rot2d)
+```
+
+```@docs
+RotationsMakieExt.rotation2plot
+RotationsMakieExt.rotation2plot!
+RotationsMakieExt.Rotation2Plot
+```
+
+The functions are also accessible from the `Visualization` module of the package.
+
+### Basic 3D Rotation Plotting
+
+```julia
+# Create a 3D rotation from Euler angles
+rot3d = RotXYZ(π/6, π/4, π/3)
+
+# Plot the rotation
+fig, ax, plt = plot(rot3d)
+```
+
+```@docs
+RotationsMakieExt.rotation3plot
+RotationsMakieExt.rotation3plot!
+RotationsMakieExt.Rotation3Plot
+```
+
+### Combining Multiple Rotations
+
+```julia
+using GLMakie
+
+# Create several rotations
+rotations = [
+    RotX(π/6),
+    RotY(π/4), 
+    RotZ(π/3),
+    RotXYZ(π/6, π/4, π/3)
+]
+
+# Plot them in a grid
+fig = Figure(resolution = (800, 800))
+
+for (i, rot) in enumerate(rotations)
+    ax = Axis3(fig[div(i-1, 2) + 1, mod(i-1, 2) + 1], 
+               title = "Rotation $i")
+    plot!(ax, rot, 
+          boxcolor = [:red, :green, :blue, :orange][i],
+          axissize = 1.5)
+end
+
+fig
+```

ext/RotationsMakieExt.jl

@@ -0,0 +1,132 @@
+module RotationsMakieExt
+
+using Rotations
+using Makie
+using StaticArrays
+
+import Rotations.Visualization: rotation2plot, rotation2plot!,rotation3plot ,rotation3plot
+
+Makie.plottype(::Rotation{2}) = Rotation2Plot
+Makie.plottype(::Rotation{3}) = Rotation3Plot
+
+@recipe Rotation2Plot (rot::Rotation{2},) begin
+    begin
+        arrows_attributes = Makie.documented_attributes(Arrows2D)
+        filter!(a -> a.first ∉ [:color], arrows_attributes.d)
+        arrows_attributes
+    end...
+    "Origin point for the 2D rotation visualization"
+    origin = SVector(0, 0)
+    "Size of the reference square"
+    boxsize = 0.2
+    "Length of the axis lines"
+    axissize = 1.0
+    "Colours for the two axes (x, y)"
+    axiscolors = [:red, :green]
+    "Colour of the reference square"
+    boxcolor = :gray
+end
+
+function Makie.plot!(p::Rotation2Plot{<:Tuple{<:Rotation{2}}})
+    # Use ComputationPipeline for dynamic updates
+    map!(p.attributes, [:rot, :origin, :boxsize, :axissize], [:arrows_origin, :arrows1_end, :arrows2_end, :box_points]) do rot, origin, l, L
+        e₁ = rot[:, 1]
+        e₂ = rot[:, 2]
+        ox, oy = origin
+
+        # Compute box corners
+        box_points = [Point2f(ox, oy) + rot * Point2f(x, y) for x in (-l, l) for y in (-l, l)][[1, 2, 4, 3]]
+
+        return (Point2f(ox, oy), Point2f(ox + L * e₁[1], oy + L * e₁[2]), Point2f(ox + L * e₂[1], oy + L * e₂[2]), box_points)
+    end
+
+    map!(p.attributes, [:axiscolors], [:arrows1_color, :arrows2_color]) do axiscolors
+        (axiscolors[1], axiscolors[2])
+    end
+
+    arrows2d!(p, p.attributes, p.arrows_origin, p.arrows1_end; color=p.arrows1_color)
+    arrows2d!(p, p.attributes, p.arrows_origin, p.arrows2_end; color=p.arrows2_color)
+    poly!(p, p.attributes, p.box_points; color=p.boxcolor)
+
+    return p
+end
+
+@recipe Rotation3Plot (rot::Rotation{3},) begin
+    begin
+        arrows_attributes = Makie.documented_attributes(Arrows3D)
+        filter!(a -> a.first ∉ [:color], arrows_attributes.d)
+        arrows_attributes
+    end...
+    "Origin point for the 3D rotation visualization"
+    origin = SVector(0, 0, 0)
+    "Size of the reference cube"
+    boxsize = 0.2
+    "Length of the axis lines"
+    axissize = 1.0
+    "Colours for the three axes (x, y, z)"
+    axiscolors = [:red, :green, :blue]
+    "Colour of the reference cube faces"
+    boxcolor = :gray
+    "Colour of cube edges"
+    edgecolor = :black
+end
+
+function Makie.plot!(p::Rotation3Plot{<:Tuple{<:Rotation{3}}})
+    # Use ComputationPipeline for dynamic updates
+    map!(p.attributes, [:rot, :origin, :boxsize, :axissize], [:arrows_origin, :arrows1_end, :arrows2_end, :arrows3_end, :cube_points, :cube_faces, :cube_edges]) do rot, origin, l, L
+        e₁ = rot[:, 1]
+        e₂ = rot[:, 2]
+        e₃ = rot[:, 3]
+        ox, oy, oz = origin
+
+        # Compute cube vertices
+        cube_points = [Point3f(ox, oy, oz) + rot * Point3f(x, y, z) for x in (-l, l) for y in (-l, l) for z in (-l, l)]
+
+        # Define cube faces (triangulated)
+        cube_faces = [
+            1, 2, 4, 4, 3, 1, # bottom
+            5, 6, 8, 8, 7, 5, # top
+            1, 2, 6, 6, 5, 1, # front
+            3, 4, 8, 8, 7, 3, # back
+            1, 3, 7, 7, 5, 1, # left
+            2, 4, 8, 8, 6, 2  # right
+        ]
+
+        # Define cube edges for wireframe
+        cube_edges = [
+            # Bottom face edges
+            cube_points[1], cube_points[2], cube_points[2], cube_points[4],
+            cube_points[4], cube_points[3], cube_points[3], cube_points[1],
+            # Top face edges
+            cube_points[5], cube_points[6], cube_points[6], cube_points[8],
+            cube_points[8], cube_points[7], cube_points[7], cube_points[5],
+            # Vertical edges
+            cube_points[1], cube_points[5], cube_points[2], cube_points[6],
+            cube_points[3], cube_points[7], cube_points[4], cube_points[8]
+        ]
+
+        return (
+            Point3f(ox, oy, oz),
+            Point3f(ox + L * e₁[1], oy + L * e₁[2], oz + L * e₁[3]),
+            Point3f(ox + L * e₂[1], oy + L * e₂[2], oz + L * e₂[3]),
+            Point3f(ox + L * e₃[1], oy + L * e₃[2], oz + L * e₃[3]),
+            cube_points, cube_faces, cube_edges
+        )
+    end
+
+    map!(p.attributes, [:axiscolors], [:arrows1_color, :arrows2_color, :arrows3_color]) do axiscolors
+        (axiscolors[1], axiscolors[2], axiscolors[3])
+    end
+
+    arrows3d!(p, p.attributes, p.arrows_origin, p.arrows1_end, color=p.arrows1_color)
+    arrows3d!(p, p.attributes, p.arrows_origin, p.arrows2_end, color=p.arrows2_color)
+    arrows3d!(p, p.attributes, p.arrows_origin, p.arrows3_end, color=p.arrows3_color)
+    mesh!(p, p.attributes, p.cube_points, p.cube_faces; color=p.boxcolor)
+    linesegments!(p, p.attributes, p.cube_edges; color=p.edgecolor)
+
+    return p
+end
+
+Makie.preferred_axis_type(::Rotation3Plot) = Makie.Axis3
+
+end

src/Rotations.jl

@@ -28,6 +28,7 @@ include("eigen.jl")
 include("rand.jl")
 include("rotation_between.jl")
 include("deprecated.jl")
+include("extensions.jl")
 
 export
     # Rotation types

src/extensions.jl

@@ -0,0 +1,8 @@
+module Visualization
+function rotation2plot end
+function rotation2plot! end
+function rotation3plot end
+function rotation3plot! end
+
+export rotation2plot, rotation2plot!, rotation3plot, rotation3plot!
+end