http://blog.csdn.net/sniffer_wang/article/details/6456183
任意轴可以用一个起点一个方向向量来表示。那么绕任意轴旋转就可以先将此轴移到通过原点,然后再旋转,再将旋转完的新坐标做反向平移。
则问题化为 计算绕通过原点的向量旋转任意角度后的新点。假设单位向量为(rx,ry,rz),那么旋转矩阵如下:
写成函数如下:
void Rotate_Point3D(float theta, float nx, float ny, float nz, float (&ptIn)[3], float (&ptOut)[3]) { float len = sqrtf(nx * nx + ny * ny + nz * nz); //单位化 nx /= len; ny /= len; nz /= len; ptOut[0] = ptIn[0] * (cosf(theta) + nx * nx * (1 - cosf(theta))) + //transform by matrix ptIn[1] * (nx * ny * (1 - cosf(theta)) - nz * sinf(theta)) + ptIn[2] * (nx * nz * (1 - cosf(theta) + ny * sinf(theta))); ptOut[1] = ptIn[0] * (nx * ny * (1 - cosf(theta)) + nz * sinf(theta)) + ptIn[1] * (ny * ny * (1 - cosf(theta)) + cosf(theta)) + ptIn[2] * (ny * nz * (1 - cosf(theta)) - nx * sinf(theta)); ptOut[2] = ptIn[0] * (nx * nz * (1 - cosf(theta) - ny * sinf(theta))) + ptIn[1] * (ny * nz * (1 -cosf(theta)) + nx * sinf(theta)) + ptIn[2] * (nz * nz * (1 - cosf(theta)) + cosf(theta)); }
注意 单位向量、逆时针