空间中向量旋转计算

这个是可以的：

只是bvh_rotate，不对，先旋转，后平移，结果不对

import numpy as np
from scipy.spatial.transform import Rotation as R
np.set_printoptions(precision=2, suppress=True)
def calculate_rotation_angle(vector_a, vector_b):
    if np.allclose(vector_a, vector_b):
        return [0, 0, 0]  # 返回零旋转角度
    cross_prod = np.cross(vector_a, vector_b)
    dot_prod = np.dot(vector_a, vector_b)
    angle = np.arctan2(np.linalg.norm(cross_prod), dot_prod)
    axis = cross_prod / np.linalg.norm(cross_prod)
    quaternion = R.from_rotvec(axis * angle).as_quat()
    euler_angles = R.from_quat(quaternion).as_euler('zyx', degrees=False)  # 使用弧度
    return euler_angles

def calculate_rotation_angles(vector_a, vector_b):
    # Normalize the vectors
    vector_a = vector_a / np.linalg.norm(vector_a)
    vector_b = vector_b / np.linalg.norm(vector_b)

    # Calculate the rotation