modeling-app/rust/kcl-lib/src/std/transform.rs

//! Standard library transforms.

use anyhow::Result;
use kcl_derive_docs::stdlib;
use kcmc::{
    each_cmd as mcmd,
    length_unit::LengthUnit,
    shared,
    shared::{Point3d, Point4d},
    ModelingCmd,
};
use kittycad_modeling_cmds as kcmc;

use crate::{
    errors::{KclError, KclErrorDetails},
    execution::{types::RuntimeType, ExecState, KclValue, SolidOrSketchOrImportedGeometry},
    std::Args,
};

/// Scale a solid or a sketch.
pub async fn scale(exec_state: &mut ExecState, args: Args) -> Result<KclValue, KclError> {
    let objects = args.get_unlabeled_kw_arg_typed(
        "objects",
        &RuntimeType::Union(vec![
            RuntimeType::sketches(),
            RuntimeType::solids(),
            RuntimeType::imported(),
        ]),
        exec_state,
    )?;
    let scale_x = args.get_kw_arg_opt("x")?;
    let scale_y = args.get_kw_arg_opt("y")?;
    let scale_z = args.get_kw_arg_opt("z")?;
    let global = args.get_kw_arg_opt("global")?;

    // Ensure at least one scale value is provided.
    if scale_x.is_none() && scale_y.is_none() && scale_z.is_none() {
        return Err(KclError::Semantic(KclErrorDetails {
            message: "Expected `x`, `y`, or `z` to be provided.".to_string(),
            source_ranges: vec![args.source_range],
        }));
    }

    let objects = inner_scale(objects, scale_x, scale_y, scale_z, global, exec_state, args).await?;
    Ok(objects.into())
}

/// Scale a solid or a sketch.
///
/// This is really useful for resizing parts. You can create a part and then scale it to the
/// correct size.
///
/// For sketches, you can use this to scale a sketch and then loft it with another sketch.
///
/// By default the transform is applied in local sketch axis, therefore the origin will not move.
///
/// If you want to apply the transform in global space, set `global` to `true`. The origin of the
/// model will move. If the model is not centered on origin and you scale globally it will
/// look like the model moves and gets bigger at the same time. Say you have a square
/// `(1,1) - (1,2) - (2,2) - (2,1)` and you scale by 2 globally it will become
/// `(2,2) - (2,4)`...etc so the origin has moved from `(1.5, 1.5)` to `(2,2)`.
///
/// ```no_run
/// // Scale a pipe.
///
/// // Create a path for the sweep.
/// sweepPath = startSketchOn('XZ')
///     |> startProfileAt([0.05, 0.05], %)
///     |> line(end = [0, 7])
///     |> tangentialArc({
///         offset: 90,
///         radius: 5
///     }, %)
///     |> line(end = [-3, 0])
///     |> tangentialArc({
///         offset: -90,
///         radius: 5
///     }, %)
///     |> line(end = [0, 7])
///
/// // Create a hole for the pipe.
/// pipeHole = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 1.5,
///     )
///
/// sweepSketch = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 2,
///         )              
///     |> hole(pipeHole, %)
///     |> sweep(path = sweepPath)   
///     |> scale(
///     z = 2.5,
///     )
/// ```
///
/// ```no_run
/// // Scale an imported model.
///
/// import "tests/inputs/cube.sldprt" as cube
///
/// cube
///     |> scale(
///     z = 2.5,
///     )
/// ```
///
/// ```
/// // Sweep two sketches along the same path.
///
/// sketch001 = startSketchOn('XY')
/// rectangleSketch = startProfileAt([-200, 23.86], sketch001)
///     |> angledLine([0, 73.47], %, $rectangleSegmentA001)
///     |> angledLine([
///         segAng(rectangleSegmentA001) - 90,
///         50.61
///     ], %)
///     |> angledLine([
///         segAng(rectangleSegmentA001),
///         -segLen(rectangleSegmentA001)
///     ], %)
///     |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
///     |> close()
///
/// circleSketch = circle(sketch001, center = [200, -30.29], radius = 32.63)
///
/// sketch002 = startSketchOn('YZ')
/// sweepPath = startProfileAt([0, 0], sketch002)
///     |> yLine(length = 231.81)
///     |> tangentialArc({
///         radius = 80,
///         offset = -90,
///     }, %)
///     |> xLine(length = 384.93)
///
/// parts = sweep([rectangleSketch, circleSketch], path = sweepPath)
///
/// // Scale the sweep.
/// scale(parts, z = 0.5)
/// ```
#[stdlib {
    name = "scale",
    feature_tree_operation = false,
    keywords = true,
    unlabeled_first = true,
    args = {
        objects = {docs = "The solid, sketch, or set of solids or sketches to scale."},
        x = {docs = "The scale factor for the x axis. Default is 1 if not provided.", include_in_snippet = true},
        y = {docs = "The scale factor for the y axis. Default is 1 if not provided.", include_in_snippet = true},
        z = {docs = "The scale factor for the z axis. Default is 1 if not provided.", include_in_snippet = true},
        global = {docs = "If true, the transform is applied in global space. The origin of the model will move. By default, the transform is applied in local sketch axis, therefore the origin will not move."}
    }
}]
async fn inner_scale(
    objects: SolidOrSketchOrImportedGeometry,
    x: Option<f64>,
    y: Option<f64>,
    z: Option<f64>,
    global: Option<bool>,
    exec_state: &mut ExecState,
    args: Args,
) -> Result<SolidOrSketchOrImportedGeometry, KclError> {
    // If we have a solid, flush the fillets and chamfers.
    // Only transforms needs this, it is very odd, see: https://github.com/KittyCAD/modeling-app/issues/5880
    if let SolidOrSketchOrImportedGeometry::SolidSet(solids) = &objects {
        args.flush_batch_for_solids(exec_state, solids).await?;
    }

    for object_id in objects.ids() {
        let id = exec_state.next_uuid();

        args.batch_modeling_cmd(
            id,
            ModelingCmd::from(mcmd::SetObjectTransform {
                object_id,
                transforms: vec![shared::ComponentTransform {
                    scale: Some(shared::TransformBy::<Point3d<f64>> {
                        property: Point3d {
                            x: x.unwrap_or(1.0),
                            y: y.unwrap_or(1.0),
                            z: z.unwrap_or(1.0),
                        },
                        set: false,
                        is_local: !global.unwrap_or(false),
                    }),
                    translate: None,
                    rotate_rpy: None,
                    rotate_angle_axis: None,
                }],
            }),
        )
        .await?;
    }

    Ok(objects)
}

/// Move a solid or a sketch.
pub async fn translate(exec_state: &mut ExecState, args: Args) -> Result<KclValue, KclError> {
    let objects = args.get_unlabeled_kw_arg_typed(
        "objects",
        &RuntimeType::Union(vec![
            RuntimeType::sketches(),
            RuntimeType::solids(),
            RuntimeType::imported(),
        ]),
        exec_state,
    )?;
    let translate_x = args.get_kw_arg_opt("x")?;
    let translate_y = args.get_kw_arg_opt("y")?;
    let translate_z = args.get_kw_arg_opt("z")?;
    let global = args.get_kw_arg_opt("global")?;

    // Ensure at least one translation value is provided.
    if translate_x.is_none() && translate_y.is_none() && translate_z.is_none() {
        return Err(KclError::Semantic(KclErrorDetails {
            message: "Expected `x`, `y`, or `z` to be provided.".to_string(),
            source_ranges: vec![args.source_range],
        }));
    }

    let objects = inner_translate(objects, translate_x, translate_y, translate_z, global, exec_state, args).await?;
    Ok(objects.into())
}

/// Move a solid or a sketch.
///
/// This is really useful for assembling parts together. You can create a part
/// and then move it to the correct location.
///
/// Translate is really useful for sketches if you want to move a sketch
/// and then rotate it using the `rotate` function to create a loft.
///
/// ```no_run
/// // Move a pipe.
///
/// // Create a path for the sweep.
/// sweepPath = startSketchOn('XZ')
///     |> startProfileAt([0.05, 0.05], %)
///     |> line(end = [0, 7])
///     |> tangentialArc({
///         offset: 90,
///         radius: 5
///     }, %)
///     |> line(end = [-3, 0])
///     |> tangentialArc({
///         offset: -90,
///         radius: 5
///     }, %)
///     |> line(end = [0, 7])
///
/// // Create a hole for the pipe.
/// pipeHole = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 1.5,
///     )
///
/// sweepSketch = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 2,
///         )              
///     |> hole(pipeHole, %)
///     |> sweep(path = sweepPath)   
///     |> translate(
///         x = 1.0,
///         y = 1.0,
///         z = 2.5,
///     )
/// ```
///
/// ```no_run
/// // Move an imported model.
///
/// import "tests/inputs/cube.sldprt" as cube
///
/// cube
///     |> translate(
///     x = 1.0,
///     y = 1.0,
///     z = 2.5,
///     )
/// ```
///
/// ```
/// // Sweep two sketches along the same path.
///
/// sketch001 = startSketchOn('XY')
/// rectangleSketch = startProfileAt([-200, 23.86], sketch001)
///     |> angledLine([0, 73.47], %, $rectangleSegmentA001)
///     |> angledLine([
///         segAng(rectangleSegmentA001) - 90,
///         50.61
///     ], %)
///     |> angledLine([
///         segAng(rectangleSegmentA001),
///         -segLen(rectangleSegmentA001)
///     ], %)
///     |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
///     |> close()
///
/// circleSketch = circle(sketch001, center = [200, -30.29], radius = 32.63)
///
/// sketch002 = startSketchOn('YZ')
/// sweepPath = startProfileAt([0, 0], sketch002)
///     |> yLine(length = 231.81)
///     |> tangentialArc({
///         radius = 80,
///         offset = -90,
///     }, %)
///     |> xLine(length = 384.93)
///
/// parts = sweep([rectangleSketch, circleSketch], path = sweepPath)
///
/// // Move the sweeps.
/// translate(parts, x = 1.0, y = 1.0, z = 2.5)
/// ```
///
/// ```no_run
/// // Move a sketch.
///
/// fn square(length){
///     l = length / 2
///     p0 = [-l, -l]
///     p1 = [-l, l]
///     p2 = [l, l]
///     p3 = [l, -l]
///
///     return startSketchOn(XY)
///         |> startProfileAt(p0, %)
///         |> line(endAbsolute = p1)
///         |> line(endAbsolute = p2)
///         |> line(endAbsolute = p3)
///         |> close()
/// }
///
/// square(10)
///     |> translate(
///         x = 5,
///         y = 5,
///     )
///     |> extrude(
///         length = 10,
///     )
/// ```
///
/// ```no_run
/// // Translate and rotate a sketch to create a loft.
/// sketch001 = startSketchOn('XY')
///
/// fn square() {
///     return  startProfileAt([-10, 10], sketch001)
///         |> xLine(length = 20)
///         |> yLine(length = -20)
///         |> xLine(length = -20)
///         |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
///         |> close()
/// }
///
/// profile001 = square()
///
/// profile002 = square()
///     |> translate(z = 20)
///     |> rotate(axis = [0, 0, 1.0], angle = 45)
///
/// loft([profile001, profile002])
/// ```
#[stdlib {
    name = "translate",
    feature_tree_operation = false,
    keywords = true,
    unlabeled_first = true,
    args = {
        objects = {docs = "The solid, sketch, or set of solids or sketches to move."},
        x = {docs = "The amount to move the solid or sketch along the x axis. Defaults to 0 if not provided.", include_in_snippet = true},
        y = {docs = "The amount to move the solid or sketch along the y axis. Defaults to 0 if not provided.", include_in_snippet = true},
        z = {docs = "The amount to move the solid or sketch along the z axis. Defaults to 0 if not provided.", include_in_snippet = true},
        global = {docs = "If true, the transform is applied in global space. The origin of the model will move. By default, the transform is applied in local sketch axis, therefore the origin will not move."}
    }
}]
async fn inner_translate(
    objects: SolidOrSketchOrImportedGeometry,
    x: Option<f64>,
    y: Option<f64>,
    z: Option<f64>,
    global: Option<bool>,
    exec_state: &mut ExecState,
    args: Args,
) -> Result<SolidOrSketchOrImportedGeometry, KclError> {
    // If we have a solid, flush the fillets and chamfers.
    // Only transforms needs this, it is very odd, see: https://github.com/KittyCAD/modeling-app/issues/5880
    if let SolidOrSketchOrImportedGeometry::SolidSet(solids) = &objects {
        args.flush_batch_for_solids(exec_state, solids).await?;
    }

    for object_id in objects.ids() {
        let id = exec_state.next_uuid();

        args.batch_modeling_cmd(
            id,
            ModelingCmd::from(mcmd::SetObjectTransform {
                object_id,
                transforms: vec![shared::ComponentTransform {
                    translate: Some(shared::TransformBy::<Point3d<LengthUnit>> {
                        property: shared::Point3d {
                            x: LengthUnit(x.unwrap_or_default()),
                            y: LengthUnit(y.unwrap_or_default()),
                            z: LengthUnit(z.unwrap_or_default()),
                        },
                        set: false,
                        is_local: !global.unwrap_or(false),
                    }),
                    scale: None,
                    rotate_rpy: None,
                    rotate_angle_axis: None,
                }],
            }),
        )
        .await?;
    }

    Ok(objects)
}

/// Rotate a solid or a sketch.
pub async fn rotate(exec_state: &mut ExecState, args: Args) -> Result<KclValue, KclError> {
    let objects = args.get_unlabeled_kw_arg_typed(
        "objects",
        &RuntimeType::Union(vec![
            RuntimeType::sketches(),
            RuntimeType::solids(),
            RuntimeType::imported(),
        ]),
        exec_state,
    )?;
    let roll = args.get_kw_arg_opt("roll")?;
    let pitch = args.get_kw_arg_opt("pitch")?;
    let yaw = args.get_kw_arg_opt("yaw")?;
    let axis = args.get_kw_arg_opt("axis")?;
    let angle = args.get_kw_arg_opt("angle")?;
    let global = args.get_kw_arg_opt("global")?;

    // Check if no rotation values are provided.
    if roll.is_none() && pitch.is_none() && yaw.is_none() && axis.is_none() && angle.is_none() {
        return Err(KclError::Semantic(KclErrorDetails {
            message: "Expected `roll`, `pitch`, and `yaw` or `axis` and `angle` to be provided.".to_string(),
            source_ranges: vec![args.source_range],
        }));
    }

    // If they give us a roll, pitch, or yaw, they must give us at least one of them.
    if roll.is_some() || pitch.is_some() || yaw.is_some() {
        // Ensure they didn't also provide an axis or angle.
        if axis.is_some() || angle.is_some() {
            return Err(KclError::Semantic(KclErrorDetails {
                message: "Expected `axis` and `angle` to not be provided when `roll`, `pitch`, and `yaw` are provided."
                    .to_string(),
                source_ranges: vec![args.source_range],
            }));
        }
    }

    // If they give us an axis or angle, they must give us both.
    if axis.is_some() || angle.is_some() {
        if axis.is_none() {
            return Err(KclError::Semantic(KclErrorDetails {
                message: "Expected `axis` to be provided when `angle` is provided.".to_string(),
                source_ranges: vec![args.source_range],
            }));
        }
        if angle.is_none() {
            return Err(KclError::Semantic(KclErrorDetails {
                message: "Expected `angle` to be provided when `axis` is provided.".to_string(),
                source_ranges: vec![args.source_range],
            }));
        }

        // Ensure they didn't also provide a roll, pitch, or yaw.
        if roll.is_some() || pitch.is_some() || yaw.is_some() {
            return Err(KclError::Semantic(KclErrorDetails {
                message: "Expected `roll`, `pitch`, and `yaw` to not be provided when `axis` and `angle` are provided."
                    .to_string(),
                source_ranges: vec![args.source_range],
            }));
        }
    }

    // Validate the roll, pitch, and yaw values.
    if let Some(roll) = roll {
        if !(-360.0..=360.0).contains(&roll) {
            return Err(KclError::Semantic(KclErrorDetails {
                message: format!("Expected roll to be between -360 and 360, found `{}`", roll),
                source_ranges: vec![args.source_range],
            }));
        }
    }
    if let Some(pitch) = pitch {
        if !(-360.0..=360.0).contains(&pitch) {
            return Err(KclError::Semantic(KclErrorDetails {
                message: format!("Expected pitch to be between -360 and 360, found `{}`", pitch),
                source_ranges: vec![args.source_range],
            }));
        }
    }
    if let Some(yaw) = yaw {
        if !(-360.0..=360.0).contains(&yaw) {
            return Err(KclError::Semantic(KclErrorDetails {
                message: format!("Expected yaw to be between -360 and 360, found `{}`", yaw),
                source_ranges: vec![args.source_range],
            }));
        }
    }

    // Validate the axis and angle values.
    if let Some(angle) = angle {
        if !(-360.0..=360.0).contains(&angle) {
            return Err(KclError::Semantic(KclErrorDetails {
                message: format!("Expected angle to be between -360 and 360, found `{}`", angle),
                source_ranges: vec![args.source_range],
            }));
        }
    }

    let objects = inner_rotate(objects, roll, pitch, yaw, axis, angle, global, exec_state, args).await?;
    Ok(objects.into())
}

/// Rotate a solid or a sketch.
///
/// This is really useful for assembling parts together. You can create a part
/// and then rotate it to the correct orientation.
///
/// For sketches, you can use this to rotate a sketch and then loft it with another sketch.
///
/// ### Using Roll, Pitch, and Yaw
///
/// When rotating a part in 3D space, "roll," "pitch," and "yaw" refer to the
/// three rotational axes used to describe its orientation: roll is rotation
/// around the longitudinal axis (front-to-back), pitch is rotation around the
/// lateral axis (wing-to-wing), and yaw is rotation around the vertical axis
/// (up-down); essentially, it's like tilting the part on its side (roll),
/// tipping the nose up or down (pitch), and turning it left or right (yaw).
///
/// So, in the context of a 3D model:
///
/// - **Roll**: Imagine spinning a pencil on its tip - that's a roll movement.
///
/// - **Pitch**: Think of a seesaw motion, where the object tilts up or down along its side axis.
///
/// - **Yaw**: Like turning your head left or right, this is a rotation around the vertical axis
///
/// ### Using an Axis and Angle
///
/// When rotating a part around an axis, you specify the axis of rotation and the angle of
/// rotation.
///
/// ```no_run
/// // Rotate a pipe with roll, pitch, and yaw.
///
/// // Create a path for the sweep.
/// sweepPath = startSketchOn('XZ')
///     |> startProfileAt([0.05, 0.05], %)
///     |> line(end = [0, 7])
///     |> tangentialArc({
///         offset: 90,
///         radius: 5
///     }, %)
///     |> line(end = [-3, 0])
///     |> tangentialArc({
///         offset: -90,
///         radius: 5
///     }, %)
///     |> line(end = [0, 7])
///
/// // Create a hole for the pipe.
/// pipeHole = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 1.5,
///     )
///
/// sweepSketch = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 2,
///         )              
///     |> hole(pipeHole, %)
///     |> sweep(path = sweepPath)   
///     |> rotate(
///         roll = 10,
///         pitch =  10,
///         yaw = 90,
///     )
/// ```
///
/// ```no_run
/// // Rotate a pipe with just roll.
///
/// // Create a path for the sweep.
/// sweepPath = startSketchOn('XZ')
///     |> startProfileAt([0.05, 0.05], %)
///     |> line(end = [0, 7])
///     |> tangentialArc({
///         offset: 90,
///         radius: 5
///     }, %)
///     |> line(end = [-3, 0])
///     |> tangentialArc({
///         offset: -90,
///         radius: 5
///     }, %)
///     |> line(end = [0, 7])
///
/// // Create a hole for the pipe.
/// pipeHole = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 1.5,
///     )
///
/// sweepSketch = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 2,
///         )              
///     |> hole(pipeHole, %)
///     |> sweep(path = sweepPath)   
///     |> rotate(
///         roll = 10,
///     )
/// ```
///
/// ```no_run
/// // Rotate a pipe about an axis with an angle.
///
/// // Create a path for the sweep.
/// sweepPath = startSketchOn('XZ')
///     |> startProfileAt([0.05, 0.05], %)
///     |> line(end = [0, 7])
///     |> tangentialArc({
///         offset: 90,
///         radius: 5
///     }, %)
///     |> line(end = [-3, 0])
///     |> tangentialArc({
///         offset: -90,
///         radius: 5
///     }, %)
///     |> line(end = [0, 7])
///
/// // Create a hole for the pipe.
/// pipeHole = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 1.5,
///    )
///
/// sweepSketch = startSketchOn('XY')
///     |> circle(
///         center = [0, 0],
///         radius = 2,
///         )              
///     |> hole(pipeHole, %)
///     |> sweep(path = sweepPath)   
///     |> rotate(
///     axis =  [0, 0, 1.0],
///     angle = 90,
///     )
/// ```
///
/// ```no_run
/// // Rotate an imported model.
///
/// import "tests/inputs/cube.sldprt" as cube
///
/// cube
///     |> rotate(
///     axis =  [0, 0, 1.0],
///     angle = 90,
///     )
/// ```
///
/// ```
/// // Sweep two sketches along the same path.
///
/// sketch001 = startSketchOn('XY')
/// rectangleSketch = startProfileAt([-200, 23.86], sketch001)
///     |> angledLine([0, 73.47], %, $rectangleSegmentA001)
///     |> angledLine([
///         segAng(rectangleSegmentA001) - 90,
///         50.61
///     ], %)
///     |> angledLine([
///         segAng(rectangleSegmentA001),
///         -segLen(rectangleSegmentA001)
///     ], %)
///     |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
///     |> close()
///
/// circleSketch = circle(sketch001, center = [200, -30.29], radius = 32.63)
///
/// sketch002 = startSketchOn('YZ')
/// sweepPath = startProfileAt([0, 0], sketch002)
///     |> yLine(length = 231.81)
///     |> tangentialArc({
///         radius = 80,
///         offset = -90,
///     }, %)
///     |> xLine(length = 384.93)
///
/// parts = sweep([rectangleSketch, circleSketch], path = sweepPath)
///
/// // Rotate the sweeps.
/// rotate(parts, axis =  [0, 0, 1.0], angle = 90)
/// ```
///
/// ```no_run
/// // Translate and rotate a sketch to create a loft.
/// sketch001 = startSketchOn('XY')
///
/// fn square() {
///     return  startProfileAt([-10, 10], sketch001)
///         |> xLine(length = 20)
///         |> yLine(length = -20)
///         |> xLine(length = -20)
///         |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
///         |> close()
/// }
///
/// profile001 = square()
///
/// profile002 = square()
///     |> translate(x = 0, y = 0, z = 20)
///     |> rotate(axis = [0, 0, 1.0], angle = 45)
///
/// loft([profile001, profile002])
/// ```
#[stdlib {
    name = "rotate",
    feature_tree_operation = false,
    keywords = true,
    unlabeled_first = true,
    args = {
        objects = {docs = "The solid, sketch, or set of solids or sketches to rotate."},
        roll = {docs = "The roll angle in degrees. Must be between -360 and 360. Default is 0 if not given.", include_in_snippet = true},
        pitch = {docs = "The pitch angle in degrees. Must be between -360 and 360. Default is 0 if not given.", include_in_snippet = true},
        yaw = {docs = "The yaw angle in degrees. Must be between -360 and 360. Default is 0 if not given.", include_in_snippet = true},
        axis = {docs = "The axis to rotate around. Must be used with `angle`.", include_in_snippet = false},
        angle = {docs = "The angle to rotate in degrees. Must be used with `axis`. Must be between -360 and 360.", include_in_snippet = false},
        global = {docs = "If true, the transform is applied in global space. The origin of the model will move. By default, the transform is applied in local sketch axis, therefore the origin will not move."}
    }
}]
#[allow(clippy::too_many_arguments)]
async fn inner_rotate(
    objects: SolidOrSketchOrImportedGeometry,
    roll: Option<f64>,
    pitch: Option<f64>,
    yaw: Option<f64>,
    axis: Option<[f64; 3]>,
    angle: Option<f64>,
    global: Option<bool>,
    exec_state: &mut ExecState,
    args: Args,
) -> Result<SolidOrSketchOrImportedGeometry, KclError> {
    // If we have a solid, flush the fillets and chamfers.
    // Only transforms needs this, it is very odd, see: https://github.com/KittyCAD/modeling-app/issues/5880
    if let SolidOrSketchOrImportedGeometry::SolidSet(solids) = &objects {
        args.flush_batch_for_solids(exec_state, solids).await?;
    }

    for object_id in objects.ids() {
        let id = exec_state.next_uuid();

        if let (Some(axis), Some(angle)) = (axis, angle) {
            args.batch_modeling_cmd(
                id,
                ModelingCmd::from(mcmd::SetObjectTransform {
                    object_id,
                    transforms: vec![shared::ComponentTransform {
                        rotate_angle_axis: Some(shared::TransformBy::<Point4d<f64>> {
                            property: shared::Point4d {
                                x: axis[0],
                                y: axis[1],
                                z: axis[2],
                                w: angle,
                            },
                            set: false,
                            is_local: !global.unwrap_or(false),
                        }),
                        scale: None,
                        rotate_rpy: None,
                        translate: None,
                    }],
                }),
            )
            .await?;
        } else {
            // Do roll, pitch, and yaw.
            args.batch_modeling_cmd(
                id,
                ModelingCmd::from(mcmd::SetObjectTransform {
                    object_id,
                    transforms: vec![shared::ComponentTransform {
                        rotate_rpy: Some(shared::TransformBy::<Point3d<f64>> {
                            property: shared::Point3d {
                                x: roll.unwrap_or(0.0),
                                y: pitch.unwrap_or(0.0),
                                z: yaw.unwrap_or(0.0),
                            },
                            set: false,
                            is_local: !global.unwrap_or(false),
                        }),
                        scale: None,
                        rotate_angle_axis: None,
                        translate: None,
                    }],
                }),
            )
            .await?;
        }
    }

    Ok(objects)
}

#[cfg(test)]
mod tests {
    use pretty_assertions::assert_eq;

    use crate::execution::parse_execute;

    const PIPE: &str = r#"sweepPath = startSketchOn('XZ')
    |> startProfileAt([0.05, 0.05], %)
    |> line(end = [0, 7])
    |> tangentialArc({
        offset: 90,
        radius: 5
    }, %)
    |> line(end = [-3, 0])
    |> tangentialArc({
        offset: -90,
        radius: 5
    }, %)
    |> line(end = [0, 7])

// Create a hole for the pipe.
pipeHole = startSketchOn('XY')
    |> circle(
        center = [0, 0],
        radius = 1.5,
    )
sweepSketch = startSketchOn('XY')
    |> circle(
        center = [0, 0],
        radius = 2,
        )              
    |> hole(pipeHole, %)
    |> sweep(
        path = sweepPath,
    )"#;

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_empty() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate()
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `roll`, `pitch`, and `yaw` or `axis` and `angle` to be provided."#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_axis_no_angle() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    axis =  [0, 0, 1.0],
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `angle` to be provided when `axis` is provided."#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_angle_no_axis() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    angle = 90,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `axis` to be provided when `angle` is provided."#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_angle_out_of_range() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    axis =  [0, 0, 1.0],
    angle = 900,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected angle to be between -360 and 360, found `900`"#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_angle_axis_yaw() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    axis =  [0, 0, 1.0],
    angle = 90,
    yaw = 90,
   ) 
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `axis` and `angle` to not be provided when `roll`, `pitch`, and `yaw` are provided."#
                .to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_yaw_only() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    yaw = 90,
    )
"#;
        parse_execute(&ast).await.unwrap();
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_pitch_only() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    pitch = 90,
    )
"#;
        parse_execute(&ast).await.unwrap();
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_roll_only() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    pitch = 90,
    )
"#;
        parse_execute(&ast).await.unwrap();
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_yaw_out_of_range() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    yaw = 900,
    pitch = 90,
    roll = 90,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected yaw to be between -360 and 360, found `900`"#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_roll_out_of_range() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    yaw = 90,
    pitch = 90,
    roll = 900,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected roll to be between -360 and 360, found `900`"#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_pitch_out_of_range() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    yaw = 90,
    pitch = 900,
    roll = 90,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected pitch to be between -360 and 360, found `900`"#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_rotate_roll_pitch_yaw_with_angle() {
        let ast = PIPE.to_string()
            + r#"
    |> rotate(
    yaw = 90,
    pitch = 90,
    roll = 90,
    angle = 90,
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `axis` and `angle` to not be provided when `roll`, `pitch`, and `yaw` are provided."#
                .to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_translate_no_args() {
        let ast = PIPE.to_string()
            + r#"
    |> translate(
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `x`, `y`, or `z` to be provided."#.to_string()
        );
    }

    #[tokio::test(flavor = "multi_thread")]
    async fn test_scale_no_args() {
        let ast = PIPE.to_string()
            + r#"
    |> scale(
    )
"#;
        let result = parse_execute(&ast).await;
        assert!(result.is_err());
        assert_eq!(
            result.unwrap_err().message(),
            r#"Expected `x`, `y`, or `z` to be provided."#.to_string()
        );
    }
}