或者D3DX函数D3DXQuaternionToAxisAngle求出旋转轴和旋转角度 得到了旋转轴axis和旋转角度angle以后就可以利用D3DXMatrixRotationAxis来求取旋转矩阵,也可以手动求解,看这篇博文。也可以一步到位,用D3DXMatrixRotationQuaternion函数直接求得旋转矩阵
2.Rotation Matrix,Euler Angle和Quaternion之间的相互转换 Euler angle和rotation matrix之间的转化其实上文提过,代码直接照搬上述公式即可。 因为所有的transform,无论是旋转还是平移,最终都要变成4x4矩阵代入到每个vertex的计算当中去,因此quaternion和matrx44之间的转换经常用到,所以先讲quaternion和matrix4x4之间的转化方法...
本身没什么难的,但是其中有些优化细节不得不提及一下,因为似乎所有的人都这么写,搞得我都看不懂,便抽出时间研究了一下这个。 关于四元数的前置只是,可以查看https://krasjet.github.io/quaternion/quaternion.pdf,这篇文章写的非常好且到位。 一个四元数p=(qx,qy,qz,qw)p=(qx,qy,qz,qw)对→vv→施加的...
示例1: test_quaternion_rot_matrix_det_one ▲点赞 6▼ # 需要导入模块: from quaternion import Quaternion [as 别名]# 或者: from quaternion.Quaternion importrotation_matrix[as 别名]deftest_quaternion_rot_matrix_det_one(self):''' Test that the determinant of the rotation matrix is 1.'''for_i...
使用函数D3DXQuaternionRotationMatrix可以直接由Rotation matrix求出对应的Quaternion 由Quaternion求Rotation Matrix 可以利用上面的公式先求出旋转轴和旋转角度 axis.x = q.x / sin(theta / 2) axis.y = q.y / sin(theta / 2) axis.z = q.z / sin(theta / 2) ...
m_ToWorld = rotation.GetRotationMatrix( );// m = Rm_ToWorld.MultScale( scale );// m = R Sm_ToWorld.SetToWorldPosition( position );// m = T R Sm_FromWorld = m_ToWorld.Inverse( ); m_IsFromWorldDirty =false; } 开发者ID:scw000000,项目名称:Engine,代码行数:8,代码来源:Geometry...
Roll –φ: rotation about the X-axis Pitch –θ: rotation about the Y-axis Yaw –ψ: rotation about the Z-axis where the X-axis points forward, Y-axis to the right and Z-axis downward and in the example to follow the rotation occurs in the order yaw, pitch, roll (about body-fixe...
# 定义原始坐标point=np.array([1,0,0])point_homogeneous=np.append(point,1)# 进行旋转变换rotated_point=np.dot(rotation_matrix,point_homogeneous)# 进行平移变换translated_point=np.dot(translation_matrix,rotated_point)print("原始坐标:",point)print("旋转平移后的坐标:",translated_point[:3]) ...
Visual BasicPublic Shared FunctionRotationMatrix( _ ByValmAsMatrix_ ) AsQuaternion C#public staticQuaternionRotationMatrix( Matrixm ); C++public: staticQuaternionRotationMatrix( Matrixm ); JScriptpublic static functionRotationMatrix( m:Matrix ) :Quaternion; ...
参考Eigen::Quaterniond::toRotationMatrix /** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to* be normalized, otherwise the result is undefined.*/template<classDerived>EIGEN_DEVICE_FUNCinlinetypenameQuaternionBase<Derived>::Matrix3QuaternionBase<Derived>::toRotationMatrix...