3维旋转--三维旋转矩阵

三维旋转矩阵

二维旋转

先考虑二维的旋转，根据三角函数的关系，可以得到：
$$\{\begin{array}{l}{x}^{\prime }=\left|\begin{array}{c}OP\end{array}\right|\cdot \cos (\alpha +\beta )=\left|\begin{array}{c}OP\end{array}\right|\cdot (\cos \alpha \cdot \cos \beta -\sin \alpha \cdot \sin \beta )=x\cdot \cos \beta -y\cdot \sin \beta \\ y^{\prime }=\left|\begin{array}{c}OP\end{array}\right|\cdot \sin (\alpha +\beta )=\left|\begin{array}{c}OP\end{array}\right|\cdot (\cos \alpha \cdot \sin \beta +\sin \alpha \cdot \cos \beta )=x\cdot \sin \beta +y\cdot \cos \beta \end{array}$$
用矩阵形式表示：
$$\left[\begin{array}{c}{x}^{{}^{\prime }}\\ y^{{}^{\prime }}\end{array}\right]=\left[\begin{array}{cc}\cos \beta & -\sin \beta \\ \sin \beta & \cos \beta \end{array}\right].\left[\begin{array}{c}x\\ y\end{array}\right]$$
旋转矩阵即为：
$$\left[\begin{array}{cc}\cos \beta & -\sin \beta \\ \sin \beta & \cos \beta \end{array}\right]$$

三维旋转

借助二维旋转矩阵，可以推广到三维的情况中，这里我们考虑$X,Y,Z$的情况（暂时只考虑了正方向的转动，逆方向是正向旋转矩阵的逆矩阵，由于旋转矩阵是正交阵，所以逆矩阵是转置矩阵）

1. 绕$z$轴

绕$z$轴比较简单，直接增加一个$z$轴，坐标$z$不变即可：
$$\begin{array}{c}\{\begin{array}{l}{x}^{{}^{\prime }}=x\cdot \cos \beta -y\cdot \sin \beta \\ y^{{}^{\prime }}=x\cdot \sin \beta +y\cdot \cos \beta \\ z^{{}^{\prime }}=z\end{array}\\ \left[\begin{array}{c}{x}^{{}^{\prime }}\\ y^{{}^{\prime }}\\ z^{{}^{\prime }}\end{array}\right]=\left[\begin{array}{ccc}\cos \beta & -\sin \beta & 0\\ \sin \beta & \cos \beta & 0\\ 0& 0& 1\end{array}\right]\cdot \left[\begin{array}{c}x\\ y\\ z\end{array}\right]\end{array}$$

2. 绕$y$轴

同绕$z$轴类似，让$y$不变即可；
$$\begin{array}{c}\{\begin{array}{l}{x}^{{}^{\prime }}=x\cdot \cos \beta +z\cdot \sin \beta \\ y^{{}^{\prime }}=y\\ z^{{}^{\prime }}=-x\cdot \sin \beta +z\cdot \cos \beta \end{array}\\ \left[\begin{array}{c}{x}^{{}^{\prime }}\\ y^{{}^{\prime }}\\ z^{{}^{\prime }}\end{array}\right]=\left[\begin{array}{ccc}\cos \beta & 0& \sin \beta \\ 0& 1& 0\\ -\sin \beta & 0& \cos \beta \end{array}\right]\cdot \left[\begin{array}{c}x\\ y\\ z\end{array}\right]\end{array}$$

3. 绕$x$轴

$$\begin{array}{rl}& \{\begin{array}{l}{y}^{{}^{\prime }}=y\cdot \cos \beta -z\cdot \sin \beta \\ z^{{}^{\prime }}=y\cdot \sin \beta +z\cdot \cos \beta \\ x^{{}^{\prime }}=x\end{array}\\ & \left[\begin{array}{c}{y}^{{}^{\prime }}\\ z^{{}^{\prime }}\\ x^{{}^{\prime }}\end{array}\right]=\left[\begin{array}{ccc}\cos \beta & -\sin \beta & 0\\ \sin \beta & \cos \beta & 0\\ 0& 0& 1\end{array}\right]\cdot \left[\begin{array}{c}y\\ z\\ x\end{array}\right]\Rightarrow \left[\begin{array}{c}{x}^{{}^{\prime }}\\ y^{{}^{\prime }}\\ z^{{}^{\prime }}\end{array}\right]=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \beta & -\sin \beta \\ 0& \sin \beta & \cos \beta \end{array}\right]\cdot \left[\begin{array}{c}x\\ y\\ z\end{array}\right]\end{array}$$