绕轴旋转矩阵

我们知道绕坐标轴旋转的变换矩阵为：

（1）绕Z轴旋转  x' = xcost - ysint

                            y' = xsint + ycost

                            z' = z  

用极坐标推导而来:x = pcosa   x' =pcos(a+t)= =xcost - ysint

                             y=psina       y' = psin（t+a）=xsint + ycost

（2）绕X轴旋转  y' = ycost - zsint

                            z' = ysint + zcost

                            x' = x

同理

(3) 绕Y轴旋转 z' = zcost - xsint

                       x' = zsint + xcost

                       y' = y

。