Rotation and transformation of three-dimensional space around the coordinate axis

Original article from:

Http://blog.csdn.net/bingcaihuang/article/details/5806139

The Rotation Transformation in 3D space is more complex than the Rotation Transformation in 2D space. In addition to the rotation angle, you must specify the rotation axis.

If the three coordinate axes X, Y, and Z in the coordinate system are used as the rotation axes, the points are actually rotated only on the plane of the vertical coordinate axis. In this case, the three-dimensional rotation transformation matrix can be directly introduced using the two-dimensional rotation formula.

It is specified that in the right-hand coordinate system, the positive direction of the object's rotation is the right-hand spiral direction, that is, the clockwise direction is displayed from the positive and semi-axis of the axis to the origin.

 

 

Round X axis

 

Y axis

 

Z axis