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.
| `solid` | [`Solid`](/docs/kcl/types/Solid) | The solid to rotate. | Yes |
| `roll` | `number` | The roll angle in degrees. Must be used with `pitch` and `yaw`. Must be between -360 and 360. | No |
| `pitch` | `number` | The pitch angle in degrees. Must be used with `roll` and `yaw`. Must be between -360 and 360. | No |
| `yaw` | `number` | The yaw angle in degrees. Must be used with `roll` and `pitch`. Must be between -360 and 360. | No |
| `axis` | `[number]` | The axis to rotate around. Must be used with `angle`. | No |
| `angle` | `number` | The angle to rotate in degrees. Must be used with `axis`. Must be between -360 and 360. | No |
| `global` | `bool` | 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. | No |
### Returns
[`Solid`](/docs/kcl/types/Solid) - A solid is a collection of extrude surfaces.
### Examples
```js
// 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)
```
|> 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)
```
