gdrotateAxis.docVIP

Geometry in 3D Graphics 8: Rotation Around an Axis 一、向量绕轴旋转的基本公式Assume n is a unitary vector. By Fig.1, we have the formula for the rotation around an axis x=(x?n)n(1?cosθ ) + cosθ x +sinθ n×x …… (1) Converting vector operations to quaternion operations, we have x= ?(xn+nx)n(1?cosθ)/2 +cosθx +sinθ (nx?xn)/2, since |n|=1, so n?1=?n, so we have x= (1+cosθ)x/2 +sinθ (nx?xn)/2 ?nxn(1?cosθ)/2 …… (2) Denoting the parallel and vertical component of x as xp=(x?n)n and xv= x?xp repectively, then ?nxn=xp?xv, symmetric with x to axis n. (nx?xn)/2= n×x, is xv rotated +90°. See Fig.1. 向量运算与四元数运算的相互转换： If v =xi+yj+zk is a 3-dimensional vector, then the quaternion q=w+v is said to be an upgraded vector form, where w is a scalar. The norm of q is |q|, |q|2=w2+x2+y2+z2. The inverse of q is q?1=|q|?2q?, where q?=w-v= w?xi?yj?zk is the so called conjugate of q. qq?= q?q =|q|2. Basic quaternion operations are as follows: qq= (ww?v?v) + (wv +vw +v×v), v?v = ?(vv +vv) /2, v×v = (vv ?vv) /2 ; vv =v×v ?v?v. We assume that, throughout the context, ? sign represents inner vector product, whereas quaternion multiplication sign is omitted. Note that quaternion multiplication is not commutative. For inner product we have v?v =|v|2, while for quaternion product v2=?|v|2. x= (1+cosθ)x/2 +sinθ n×x +(xp?xv)(1?cosθ)/2 …… (3) 二、向量绕轴旋转公式,y,z)代替x, 用(vx,vy,vz)代替n, 则可以把 x=(x?n)n(1?cosθ ) + cosθ x + sinθ n×x 写为矩阵形式: x= (vx2(1-cosθ)+ cosθ)x+(vxvy(1-cosθ) -vzsinθ)y +(vxvz(1-cosθ) +vysinθ)z, y= (vyvx(1-cosθ) +vzsinθ) x+(vy2(1-cosθ)+ cosθ)y +(vyvz(1-cosθ) -vxsinθ)z, z= (vzvx(1-cosθ) -vysinθ) x+ (vzvy(1-cosθ) +vxsinθ)y +(vz2(1-cosθ)+ cosθ)z. 用A表示上述线性变化的矩阵, 则得到 x=(x?n)n + cosθ(x-(x?n)n) + sinθ n×x的矩阵形式, 即 x= xp + cosθxv+ sinθ n×xv的矩阵形式 x=Ax. 利用三角公式, x=Ax也可以写作 x= ((1-cosθ)vx2+ cosθ)x+(vxvy (1-cosθ) -vzsinθ)y +(vxvz (1-cosθ)+vysinθ)z, y= (vyvx(1-cosθ) +vzsinθ) x+((1-cosθ)vy2+ cosθ)y +(vyvz (1-cosθ)-vxsinθ)z, z= (vzvx (1-cosθ)-vysinθ) x+ (vzvy(1-cosθ)+vxsinθ)y +((