C++实现：根据旋转前后的向量求旋转矩阵

// 获取从一个向量转到另一个向量的矩阵

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static AcGeVector3d CrossProduct(AcGeVector3d a, AcGeVector3d b); static double DotProduct(AcGeVector3d a, AcGeVector3d b); static double Absolute(AcGeVector3d v); static AcGeMatrix3d RotationMatrix(double angle, AcGeVector3d u); static AcGeMatrix3d CalculationMtrix(AcGeVector3d vectorBefore, AcGeVector3d vectorAfter);

// 封装函数：得到从一个向量转到另一个向量的矩阵

注：向量长度不能为0或两向量平行

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AcGeVector3d CrossProduct(AcGeVector3d a, AcGeVector3d b) {        AcGeVector3d c;        ///*c.x = a[1] * b[2] - a[2] * b[1];        //c.y = a[2] * b[0] - a[0] * b[2];        //c.z = a[0] * b[1] - a[1] * b[0];*/        c.x = a.y * b.z - a.z * b.y;        c.y = a.z * b.x - a.x * b.z;        c.z = a.x * b.y - a.y * b.x;        return c; } double DotProduct(AcGeVector3d a, AcGeVector3d b) {        double result;        //result = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];        result = a.x * b.x + a.y * b.y + a.z * b.z;        return result; } double Absolute(AcGeVector3d v) {        double result;        result = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);        return result; } AcGeMatrix3d RotationMatrix(double angle, AcGeVector3d u) {        double norm = Absolute(u);        u.x = u.x / norm;        u.y = u.y / norm;        u.z = u.z / norm;        AcGeMatrix3d rotatinMatrix;        rotatinMatrix.entry[0][0] = cos(angle) + u.x * u.x * (1 - cos(angle));        rotatinMatrix.entry[0][1] = u.x * u.y * (1 - cos(angle)) - u.z * sin(angle);        rotatinMatrix.entry[0][2] = u.y * sin(angle) + u.x * u.z * (1 - cos(angle));        rotatinMatrix.entry[0][3] = 0.0;        rotatinMatrix.entry[1][0] = u.z * sin(angle) + u.x * u.y * (1 - cos(angle));        rotatinMatrix.entry[1][1] = cos(angle) + u.y * u.y * (1 - cos(angle));        rotatinMatrix.entry[1][2] = -u.x * sin(angle) + u.y * u.z * (1 - cos(angle));        rotatinMatrix.entry[1][3] = 0.0;        rotatinMatrix.entry[2][0] = -u.y * sin(angle) + u.x * u.z * (1 - cos(angle));        rotatinMatrix.entry[2][1] = u.x * sin(angle) + u.y * u.z * (1 - cos(angle));        rotatinMatrix.entry[2][2] = cos(angle) + u.z * u.z * (1 - cos(angle));        rotatinMatrix.entry[2][3] = 0.0;        rotatinMatrix.entry[3][0] = 0.0;        rotatinMatrix.entry[3][1] = 0.0;        rotatinMatrix.entry[3][2] = 0.0;        rotatinMatrix.entry[3][3] = 1.0;        return rotatinMatrix; } AcGeMatrix3d CalculationMtrix(AcGeVector3d vectorBefore, AcGeVector3d vectorAfter) {        double rotationAngle = acos(DotProduct(vectorBefore, vectorAfter) / Absolute(vectorBefore) / Absolute(vectorAfter));        AcGeVector3d rotationAxis = CrossProduct(vectorBefore, vectorAfter);        AcGeMatrix3d rotationMatrix = RotationMatrix(rotationAngle, rotationAxis);        return rotationMatrix; }

模型矩阵变换：

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// 平移矩阵                             AcGeMatrix3d transMatx;                             transMatx.setToTranslation(100,100,0);                             // 缩放矩阵                             AcGeMatrix3d scaleMatx1;                             scaleMatx1.setToScaling(0.5, AcGePoint3d(0, 0, 0));                             // 旋转矩阵                             AcGeVector3d vecOrign(1,0,0);                             vecOrign.normalize();                             AcGeVector3d vecTarget(12,25,10);                             vecTarget.normalize();                             AcGeMatrix3d rotMatx = CLib_Global::CalculationMtrix(vecOrign,vecTarget);                                                         // 复合矩阵                             AcGeMatrix3d compMatx1;                             compMatx1 = scaleMatx1.preMultBy(rotMatx);                             compMatx1 = compMatx1.preMultBy(transMatx);                             AcGeMatrix3d  entityMatrix = compMatx1;                             ……………………