cad-cae之几何变换课件.docVIP

几种简单变换 变换的分类： Rodrigues rotation formula rotates v by an angle θ around an axis z by decomposing it into its components parallel and perpendicular to z, and rotating only the perpendicular component. If v is a vector in and k is a unit vector describing an axis of rotation about which we want to rotate v by an angle θ according to the right hand rule, the Rodrigues formula is: Given a rotation axis z represented by a unit vector k = (kX, kY, kZ), and a vector v = (vX, vY, vZ) that we wish to rotate about z, the vector is the component of v parallel to z, also called the vector projection of v on k, and the vector is the projection of v onto the xy plane orthogonal to z, also called the vector rejection of v from k. Notice that we chose to define a reference frame xyz in which the z axis is aligned with the rotation axis, and the x axis with the rejection of v from k. This simplifies the demonstration, as it implies that v lies on the xz plane, and its component vy is null (see figure). However, xyz does not coincide with the reference frame XYZ in which vectors v, k, vx, and vz are actually represented. For instance, v = (vX, vY, vZ) ≠ (vx, vy, vz). In other words, Rodrigues formula is independent of the orientation in space of the reference frame XYZ in which v and k are represented. Next let . Notice that vx and w have the same length. By definition of the cross product, the length of w is: where φ denotes the angle between z and v. Since k has unit length, This coincides with the length of vx, computed trigonometrically as follows: So w can be viewed as a copy of vx rotated by 90° about z. Using trigonometry, we can now rotate vx by θ around z to obtain vx rot. Its two components with respect of x and y are vxcosθ and wsinθ, respectively. Thus, vx rot can be also described as the projection on xy (or rejection from z) of the rotated vector vrot (see figure). Since vz is obviously not affected by a rotation about z, th