Games101----A Swift and Brutal Introduction to Linear Algebra
向量
1.1 简介
- 通常写成 a ⇀ \overrightharpoon{a} a,或者a;
- 或者使用起点和终点表示 A B ⇀ = B − A \overrightharpoon{AB} = B - A AB=B−A;
- 有大小和方向;
- 没有绝对的起点。
1.2 单位向量
- 向量的长度写成 ∥ a ⇀ ∥ \|\overrightharpoon{a}\| ∥a∥;
- ∥ a ⇀ ∥ = 1 \|\overrightharpoon{a}\| = 1 ∥a∥=1的向量为单位向量,记作 a ˆ = a ⇀ / ∥ a ⇀ ∥ \text{\^{a}} = \overrightharpoon{a}/\|\overrightharpoon{a}\| aˆ=a/∥a∥;
- 用来表示方向。
1.3 向量加法
- 几何:平行四边形法则或者三角形法则,如上图;
- 代数:相应的坐标相加。
1.4 点(标量)乘
1.4.1 简介
- a ⇀ ∙ b ⇀ = ∥ a ⇀ ∥ ∥ b ⇀ ∥ cos θ \overrightharpoon{a} \bullet \overrightharpoon{b} = \|\overrightharpoon{a}\| \|\overrightharpoon{b}\| \cos\theta a∙b=∥a∥∥b∥cosθ;
- cos θ = a ⇀ ∙ b ⇀ ∥ a ⇀ ∥ ∥ b ⇀ ∥ \cos\theta = \cfrac{\overrightharpoon{a} \bullet \overrightharpoon{b}}{\|\overrightharpoon{a}\| \|\overrightharpoon{b}\| } cosθ=∥a∥∥b∥a∙b;
- 对于单位向量: cos θ = a ˆ ∙ b ˆ \cos\theta=\text{\^{a}} \bull \text{\^{b}} cosθ=aˆ∙bˆ.
1.4.2 性质
- 交换律: a ⇀ ∙ b ⇀ = b ⇀ ∙ a ⇀ \overrightharpoon{a} \bullet \overrightharpoon{b} = \overrightharpoon{b} \bullet \overrightharpoon{a} a∙b=b∙a;
- 分配律: a ⇀ ∙ ( b ⇀ + c ⇀ ) = a ⇀ ∙ b ⇀ + a ⇀ ∙ c ⇀ \overrightharpoon{a} \bullet (\overrightharpoon{b} + \overrightharpoon{c}) = \overrightharpoon{a} \bullet \overrightharpoon{b} + \overrightharpoon{a} \bullet \overrightharpoon{c} a∙(b+c)=a∙b+a∙c;
- 结合律: ( k a ⇀ ) ∙ b ⇀ = a ⇀ ∙ ( k b ⇀ ) (k\overrightharpoon{a}) \bullet \overrightharpoon{b} = \overrightharpoon{a} \bullet (k\overrightharpoon{b}) (ka)∙b=a∙(kb).
1.4.3 点乘在坐标系的运算
各分量相乘,然后加起来
- 2D: a ⇀ ∙ b ⇀ = ( x a y a ) ∙ ( x b y b ) = x a x b + y a y b \overrightharpoon{a} \bullet \overrightharpoon{b} = \biggl( \begin{matrix} x_a \\ y_a \end{matrix} \biggr) \bullet \biggl( \begin{matrix} x_b \\ y_b \end{matrix} \biggr) = x_ax_b + y_a y_b a∙b=(xaya)∙(xbyb)=xaxb+yayb;
- 3D: a ⇀ ∙ b ⇀ = ( x a y a z a ) ∙ ( x b y b z b ) = x a x b + y a y b + z a z b \overrightharpoon{a} \bullet \overrightharpoon{b} = \biggl( \begin{matrix} x_a \\ y_a \\ z_a \end{matrix} \biggr) \bullet \biggl( \begin{matrix} x_b \\ y_b \\ z_b\end{matrix} \biggr) = x_ax_b + y_a y_b+z_az_b a∙b=(xayaza)∙(xbybzb)=xaxb+yayb+zazb.
1.4.4 点乘在图形学中的应用
- 求两向量之间的夹角,如光线和平面之间的夹角;
- 求一个向量在另一个向量上的投影。
- b ⇀ ⊥ = k a ˆ \overrightharpoon{b}_\bot = k\text{\^{a}} b⊥=kaˆ;
- k = ∥ b ⇀ ⊥ ∥ = ∥ b ⇀ ∥ cos θ k = \|\overrightharpoon{b}_\bot\| = \|\overrightharpoon{b}\|\cos\theta k=∥b⊥∥=∥b∥cosθ.
- 测量两向量的接近程度;
- 分解向量;
- 决定前后。
1.5 叉乘
1.5.1 简介
- 与两个初始向量正交;
- 符合右手法则;
- 构造坐标系统的时候很有用。
1.5.2 性质
- x ⇀ × y ⇀ = + z ⇀ \overrightharpoon{x} \times \overrightharpoon{y} = +\overrightharpoon{z} x×y=+z;
- y ⇀ × x ⇀ = − z ⇀ \overrightharpoon{y} \times \overrightharpoon{x} = -\overrightharpoon{z} y×x=−z;
- y ⇀ × z ⇀ = + x ⇀ \overrightharpoon{y} \times \overrightharpoon{z} = +\overrightharpoon{x} y×z=+x;
- z ⇀ × y ⇀ = − x ⇀ \overrightharpoon{z} \times \overrightharpoon{y} = -\overrightharpoon{x} z×y=−x;
- z ⇀ × x ⇀ = + y ⇀ \overrightharpoon{z} \times \overrightharpoon{x} = +\overrightharpoon{y} z×x=+y;
- x ⇀ × z ⇀ = − y ⇀ \overrightharpoon{x} \times \overrightharpoon{z} = -\overrightharpoon{y} x×z=−y;
- a ⇀ × b ⇀ = − b ⇀ × a ⇀ \overrightharpoon{a} \times \overrightharpoon{b} = -\overrightharpoon{b} \times \overrightharpoon{a} a×b=−b×a;
- a ⇀ × a ⇀ = 0 \overrightharpoon{a} \times \overrightharpoon{a} = 0 a×a=0;
- a ⇀ × ( b ⇀ + c ⇀ ) = a ⇀ × b ⇀ + a ⇀ × c ⇀ \overrightharpoon{a} \times (\overrightharpoon{b} + \overrightharpoon{c}) = \overrightharpoon{a} \times \overrightharpoon{b}+\overrightharpoon{a} \times \overrightharpoon{c} a×(b+c)=a×b+a×c;
- a ⇀ × ( k b ⇀ ) = k ( a ⇀ × b ⇀ ) \overrightharpoon{a} \times (k\overrightharpoon{b}) = k(\overrightharpoon{a} \times \overrightharpoon{b}) a×(kb)=k(a×b).
- 坐标系下的叉乘:
a ⇀ × b ⇀ = ( y a z b − y b z a z a x b − x a z b x a y b − y a x b ) \overrightharpoon{a} \times \overrightharpoon{b} = \biggl( \begin{matrix} y_az_b-y_bz_a \\ z_ax_b-x_az_b \\ x_ay_b-y_ax_b \end{matrix} \biggr) a×b=(yazb−ybzazaxb−xazbxayb−yaxb)
1.5.3 图形学中的叉乘
- 确定左右;
- 确定内外。
1.6 正交基/坐标系
- 对于点(points)、位置(positions、locations)的表示非常重要;(position和location有什么区别?个人理解是主观角度不一样,postion表示某个点或某个物体处于什么位置,location表示客观存在的位置。感觉很难用语言表述清楚)。
- 图形学中,有很多坐标系统,如全局坐标系、局部坐标系、模型坐标系、世界坐标系…
- 正交坐标系统:任意三个向量,满足:
- ∥ u ⇀ ∥ = ∥ v ⇀ ∥ = ∥ w ⇀ ∥ = 1 \|\overrightharpoon{u}\| = \|\overrightharpoon{v}\| = \|\overrightharpoon{w}\| = 1 ∥u∥=∥v∥=∥w∥=1;
- u ⇀ ∙ v ⇀ = 0 \overrightharpoon{u} \bullet \overrightharpoon{v}=0 u∙v=0; v ⇀ ∙ w ⇀ = 0 \overrightharpoon{v} \bullet \overrightharpoon{w}=0 v∙w=0; u ⇀ ∙ w ⇀ = 0 \overrightharpoon{u} \bullet \overrightharpoon{w}=0 u∙w=0;
- u ⇀ × v ⇀ = w ⇀ \overrightharpoon{u} \times\overrightharpoon{v}=\overrightharpoon{w} u×v=w(右手法则);
- 对于任意向量 p ⇀ \overrightharpoon{p} p: p ⇀ = ( p ⇀ ∙ u ⇀ ) u ⇀ + ( p ⇀ ∙ v ⇀ ) v ⇀ + ( p ⇀ ∙ w ⇀ ) w ⇀ \overrightharpoon{p} = (\overrightharpoon{p} \bull \overrightharpoon{u})\overrightharpoon{u}+(\overrightharpoon{p} \bull \overrightharpoon{v})\overrightharpoon{v}+(\overrightharpoon{p} \bull \overrightharpoon{w})\overrightharpoon{w} p=(p∙u)u+(p∙v)v+(p∙w)w.