下面列举出比较常用的变换矩阵
绕 x 轴旋转
[
1
0
0
0
0
c
o
s
(
β
)
s
i
n
(
β
)
0
0
−
s
i
n
(
β
)
c
o
s
(
β
)
0
0
0
0
1
]
\left[ \begin{matrix} 1 & 0 & 0 & 0 \\ 0 & cos(β) & sin(β) & 0 \\ 0 & -sin(β) & cos(β) & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right]
⎣⎢⎢⎡10000cos(β)−sin(β)00sin(β)cos(β)00001⎦⎥⎥⎤
绕 y 轴旋转
[
c
o
s
(
β
)
0
−
s
i
n
(
β
)
0
0
1
0
0
s
i
n
(
β
)
0
c
o
s
(
β
)
0
0
0
0
1
]
\left[ \begin{matrix} cos(β) & 0 & -sin(β) & 0 \\ 0 & 1 & 0 & 0 \\ sin(β) & 0 & cos(β) & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right]
⎣⎢⎢⎡cos(β)0sin(β)00100−sin(β)0cos(β)00001⎦⎥⎥⎤
绕 z 轴旋转
[
c
o
s
(
β
)
s
i
n
(
β
)
0
0
−
s
i
n
(
β
)
c
o
s
(
β
)
0
0
0
0
1
0
0
0
0
1
]
\left[ \begin{matrix} cos(β) & sin(β) & 0 & 0 \\ -sin(β) & cos(β) & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right]
⎣⎢⎢⎡cos(β)−sin(β)00sin(β)cos(β)0000100001⎦⎥⎥⎤
同时绕 x y 轴旋转
[
c
o
s
(
β
)
0
−
s
i
n
(
β
)
0
s
i
n
(
β
)
2
c
o
s
(
β
)
s
i
n
(
β
)
c
o
s
(
β
)
0
c
o
s
(
β
)
s
i
n
(
β
)
−
s
i
n
(
β
)
c
o
s
(
β
)
2
0
0
0
0
1
]
\left[ \begin{matrix} cos(β) & 0 & -sin(β) & 0 \\ sin(β)^2 & cos(β) & sin(β) cos(β)& 0 \\ cos(β) sin(β) & -sin(β) & cos(β)^2 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right]
⎣⎢⎢⎡cos(β)sin(β)2cos(β)sin(β)00cos(β)−sin(β)0−sin(β)sin(β)cos(β)cos(β)200001⎦⎥⎥⎤
同时绕 x y z 轴旋转
[
c
o
s
(
β
)
2
c
o
s
(
β
)
s
i
n
(
β
)
−
s
i
n
(
β
)
0
s
i
n
(
β
)
2
c
o
s
(
β
)
−
c
o
s
(
β
)
s
i
n
(
β
)
s
i
n
(
β
)
3
+
c
o
s
(
β
)
2
s
i
n
(
β
)
c
o
s
(
β
)
0
c
o
s
(
β
)
2
s
i
n
(
β
)
+
s
i
n
(
β
)
2
c
o
s
(
β
)
s
i
n
(
β
)
2
−
c
o
s
(
β
)
s
i
n
(
β
)
c
o
s
(
β
)
2
0
0
0
0
1
]
\left[ \begin{matrix} cos(β)^2 & cos(β)sin(β) & -sin(β) & 0 \\ sin(β)^2cos(β)-cos(β)sin(β) & sin(β)^3+cos(β)^2 & sin(β) cos(β)& 0 \\ cos(β)^2 sin(β)+sin(β)^2 & cos(β)sin(β)^2-cos(β)sin(β) & cos(β)^2 & 0 \\ 0 & 0 & 0 & 1 \end{matrix} \right]
⎣⎢⎢⎡cos(β)2sin(β)2cos(β)−cos(β)sin(β)cos(β)2sin(β)+sin(β)20cos(β)sin(β)sin(β)3+cos(β)2cos(β)sin(β)2−cos(β)sin(β)0−sin(β)sin(β)cos(β)cos(β)200001⎦⎥⎥⎤
5321
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
