【Math】Vector Rotation

已知向量 $\overrightarrow{O{P}_0}$ 为 $(x_0,y_0)$，求旋转 $\varphi$ 度后的坐标 $(x_1,y_1)$

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由上图可知

$$\begin{array}{rl}{x}_1& =|\overrightarrow{O{P}_1}|cos(\theta +\varphi )\\ & =|\overrightarrow{O{P}_0}|cos(\theta +\varphi )\\ & =|\overrightarrow{O{P}_0}|cos\theta \cdot cos\varphi -|\overrightarrow{O{P}_0}|sin\theta \cdot sin\varphi \\ & =x_{0}cos\varphi -y_{0}sin\varphi \end{array}$$

上述推导利用了 $|\overrightarrow{O{P}_0}|=|\overrightarrow{O{P}_1}|$，以及三角函数的和差公式化积公式

同理

$$\begin{array}{rl}{y}_1& =|\overrightarrow{O{P}_1}|sin(\theta +\varphi )\\ & =|\overrightarrow{O{P}_0}|sin(\theta +\varphi )\\ & =|\overrightarrow{O{P}_0}|sin\theta \cdot cos\varphi +|\overrightarrow{O{P}_0}|cos\theta \cdot sin\varphi \\ & =y_{0}cos\varphi +x_{0}sin\varphi \end{array}$$

综上所述，$\overrightarrow{O{P}_1}=(x_{0}cos\varphi -y_{0}sin\varphi ,x_{0}sin\varphi +y_{0}cos\varphi )$

写成矩阵乘法的形式

$$\left[\begin{array}{cc}cos\varphi & -sin\varphi \\ sin\varphi & cos\varphi \end{array}\right]\cdot \left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]=\left[\begin{array}{c}{x}_1\\ y_1\end{array}\right]$$