向量绕任意给定轴向旋转

向量n绕axe轴向旋转degrees度

 

void rotate( double degrees, const vector3df& axe, vector3df& n)
{
    vector3df dir(axe);
    dir.normalize();
    degrees *= (-1.0*DEGTORAD64);
    double dCos=cos( degrees );
    double dSin=sin( degrees );

    matrix4 m;

    m(0,0) = (float)(( dir.X * dir.X) * ( 1.0f - dCos ) + dCos);
    m(0,1) = (float)(( dir.X * dir.Y ) * ( 1.0f - dCos ) - (dir.Z * dSin));
    m(0,2) = (float)(( dir.X * dir.Z ) * ( 1.0f - dCos ) + (dir.Y * dSin));

    m(1,0) = (float)(( dir.Y * dir.X) * ( 1.0f - dCos ) + (dir.Z * dSin));
    m(1,1) = (float)(( dir.Y * dir.Y ) * ( 1.0f - dCos ) + dCos);
    m(1,2) = (float)(( dir.Y * dir.Z ) * ( 1.0f - dCos ) - (dir.X* dSin));

    m(2,0) = (float)(( dir.Z * dir.X) * ( 1.0f - dCos ) - (dir.Y * dSin));
    m(2,1) = (float)(( dir.Z * dir.Y ) * ( 1.0f - dCos ) + (dir.X* dSin));
    m(2,2) = (float)(( dir.Z * dir.Z ) * ( 1.0f - dCos ) + dCos);

    m(0,3) = m(1,3) = m(2,3) = 0.0f;
    m(3,0) = m(3,1) = m(3,2) = 0.0f;
    m(3,3) = 1.0f;

    vector3df nc(n);
    m.rotateVect(n,nc);

}

 

（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。