向量绕任意给定轴向旋转

向量n绕axe轴向旋转degrees度

 

1 void rotate( double degrees, const vector3df& axe, vector3df& n)
2 {
3 vector3df dir(axe);
4 dir.normalize();
5 degrees *= (-1.0*DEGTORAD64);
6 double dCos=cos( degrees );
7 double dSin=sin( degrees );
8
9 matrix4 m;
10
11 m(0,0) = (float)(( dir.X * dir.X) * ( 1.0f - dCos ) + dCos);
12 m(0,1) = (float)(( dir.X * dir.Y ) * ( 1.0f - dCos ) - (dir.Z * dSin));
13 m(0,2) = (float)(( dir.X * dir.Z ) * ( 1.0f - dCos ) + (dir.Y * dSin));
14
15 m(1,0) = (float)(( dir.Y * dir.X) * ( 1.0f - dCos ) + (dir.Z * dSin));
16 m(1,1) = (float)(( dir.Y * dir.Y ) * ( 1.0f - dCos ) + dCos);
17 m(1,2) = (float)(( dir.Y * dir.Z ) * ( 1.0f - dCos ) - (dir.X* dSin));
18
19 m(2,0) = (float)(( dir.Z * dir.X) * ( 1.0f - dCos ) - (dir.Y * dSin));
20 m(2,1) = (float)(( dir.Z * dir.Y ) * ( 1.0f - dCos ) + (dir.X* dSin));
21 m(2,2) = (float)(( dir.Z * dir.Z ) * ( 1.0f - dCos ) + dCos);
22
23 m(0,3) = m(1,3) = m(2,3) = 0.0f;
24 m(3,0) = m(3,1) = m(3,2) = 0.0f;
25 m(3,3) = 1.0f;
26
27 vector3df nc(n);
28 m.rotateVect(n,nc);
29
30 }

 

（其中vector3df表示向量   DEGTORAD64=PI/180   matrix4为4×4矩阵）具体可以参考irrlicht开源游戏引擎

  该旋转为右手系。