向量(x, y)逆时针绕起点旋转 α \alpha α度后得到的向量(x’, y’)：
x
′
=
x
c
o
s
α
−
y
s
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α
x' = xcos\alpha - ysin\alpha
x′=xcosα−ysinα
y
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=
x
s
i
n
α
+
y
c
o
s
α
y' = xsin\alpha+ ycos\alpha
y′=xsinα+ycosα
推导过程：
d = x 2 + y 2 d = \sqrt{x^2+y^2} d=x2+y2
c
o
s
θ
=
x
/
d
cos\theta = x/d
cosθ=x/d
s
i
n
θ
=
y
/
d
sin\theta = y/d
sinθ=y/d
c
o
s
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θ
+
α
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=
x
′
/
d
cos(\theta+\alpha) = x' /d
cos(θ+α)=x′/d
s
i
n
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θ
+
α
)
=
y
′
/
d
sin(\theta+\alpha) = y' /d
sin(θ+α)=y′/d
由：
c
o
s
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α
+
θ
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=
c
o
s
α
c
o
s
θ
−
s
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s
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cos(\alpha+\theta) = cos\alpha cos\theta - sin\alpha sin\theta
cos(α+θ)=cosαcosθ−sinαsinθ
s
i
n
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α
+
θ
)
=
s
i
n
α
c
o
s
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+
c
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s
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sin(\alpha+\theta) = sin\alpha cos\theta + cos\alpha sin\theta
sin(α+θ)=sinαcosθ+cosαsinθ
得：
c
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s
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θ
+
α
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=
c
o
s
α
c
o
s
θ
−
s
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s
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cos(\theta+\alpha) = cos\alpha cos\theta - sin\alpha sin\theta
cos(θ+α)=cosαcosθ−sinαsinθ
= c o s α x d − s i n α y d = x ′ d = cos\alpha\frac{x}{d} - sin\alpha \frac{y}{d} = \frac{ x'}{d} =cosαdx−sinαdy=dx′
s i n ( θ + α ) = s i n α c o s θ + c o s α s i n θ sin(\theta+\alpha) = sin\alpha cos\theta + cos\alpha sin\theta sin(θ+α)=sinαcosθ+cosαsinθ
= s i n α x d + c o s α y d = y ′ d = sin\alpha\frac{x}{d} + cos\alpha \frac{y}{d} = \frac{ y'}{d} =sinαdx+cosαdy=dy′
消除
d
d
d得：
x
′
=
c
o
s
α
⋅
x
−
s
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⋅
y
x' = cos\alpha\cdot x - sin\alpha\cdot y
x′=cosα⋅x−sinα⋅y
y ′ = s i n α ⋅ x + c o s α ⋅ y y' = sin\alpha\cdot x + cos\alpha\cdot y y′=sinα⋅x+cosα⋅y
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