向量
点乘
a → ⋅ b → = ∥ a → ∥ ∥ b → ∥ cos θ = { x 1 y 1 z 1 } { x 2 y 2 y 2 } = x 1 x 2 + y 1 y 2 + z 1 z 2 \overrightarrow{a} · \overrightarrow{b} = \lVert\overrightarrow{a}\rVert \lVert\overrightarrow{b}\rVert \cos\theta = \left\{ \begin{matrix} x1 & y1 & z1 \end{matrix} \right\} \left\{ \begin{matrix} x2 \\ y2 \\ y2 \end{matrix} \right\} = x1x2 + y1y2 + z1z2 a⋅b=∥a∥∥b∥cosθ={x1y1z1}⎩⎨⎧x2y2y2⎭⎬⎫=x1x2+y1y2+z1z2
投影
b 在 a 上的投影: b → ⊥ = k a ^ \overrightarrow{b}_\perp = k\hat{a} b⊥=ka^
模长的大小: k = ∥ b → ∥ cos θ k = \lVert\overrightarrow{b}\rVert \cos\theta k=∥b∥cosθ
叉乘
a X b = − b X a a \space X \space b = -b \space X \space a a X b=−b X a
模长: ∥ a X b ∥ = ∥ a ∥ ∥ b ∥ sin θ \lVert a X b\rVert = \lVert a\rVert\space\lVert b\rVert\space\sin\theta ∥aXb∥=∥a∥ ∥b∥ sinθ
方向: 右手螺旋法则,手指方向从a旋转到b,拇指方向为其方向
判断点P是否在三角型内部:
A B → X A P → B C → X B P → C A → X C P → \overrightarrow{AB}\space X \space \overrightarrow{AP} \space\space\space\space \overrightarrow{BC}\space X \space \overrightarrow{BP} \space\space\space\space \overrightarrow{CA}\space X \space \overrightarrow{CP} AB X AP BC X BP CA X CP
三者符号相同说明P在三个向量的同一侧,即在三角形内部
正交坐标系
对于任意三个向量,若满足:
∥ u → ∥ = ∥ v → ∥ = ∥ w → ∥ = 1 \lVert \overrightarrow{u} \rVert = \lVert \overrightarrow{v} \rVert = \lVert \overrightarrow{w} \rVert = 1 ∥u∥=∥v∥=∥w∥=1
u → ⋅ v → = v → ⋅ w → = u → ⋅ w → = 0 \overrightarrow{u} · \overrightarrow{v} = \overrightarrow{v} · \overrightarrow{w} = \overrightarrow{u} · \overrightarrow{w} = 0 u⋅v=v⋅w=u⋅w=0
w → = u → X v → \overrightarrow{w} = \overrightarrow{u} X \overrightarrow{v} w=uXv (right-handed)
则任意向量p可表示为
p
→
=
(
p
→
⋅
u
→
)
u
→
+
(
p
→
⋅
v
→
)
v
→
+
(
p
→
⋅
w
→
)
w
→
\overrightarrow{p} = (\overrightarrow{p} · \overrightarrow{u})\overrightarrow{u}+ (\overrightarrow{p} · \overrightarrow{v})\overrightarrow{v}+ (\overrightarrow{p} · \overrightarrow{w})\overrightarrow{w}\space
p=(p⋅u)u+(p⋅v)v+(p⋅w)w (在三个方向上的投影)
矩阵运算
二维向量按y轴镜像: { − 1 0 0 1 } { x y } = { − x y } \left\{ \begin{matrix} -1 & 0 \\ 0 & 1 \end{matrix} \right\} \left\{ \begin{matrix} x\\ y \end{matrix} \right\}= \left\{ \begin{matrix} -x \\ y \end{matrix} \right\} {−1001}{xy}={−xy}
乘积转置公式: ( A B ) T = B T A T (AB)^T = B^TA^T (AB)T=BTAT
矩阵的逆
单位矩阵:
I
3
x
3
=
{
1
0
0
0
1
0
0
0
1
}
I_{3x3} = \left\{ \begin{matrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{matrix} \right\}
I3x3=⎩⎨⎧100010001⎭⎬⎫
公式:
A
A
−
1
=
A
−
1
A
=
I
AA^{-1} = A^{-1}A = I
AA−1=A−1A=I
(
A
B
)
−
1
=
B
−
1
A
−
1
(AB)^{-1} = B^{-1}A^{-1}
(AB)−1=B−1A−1