//---------------------------------------------------------------------------
// arbitraryRotate - rotates v theta degrees around n
//---------------------------------------------------------------------------
private static Vector3D arbitraryRotate(Vector3D v, Vector3D n, double theta)
{
theta = Math.toRadians(theta);
double cosTheta = Math.cos(theta);
double sinTheta = Math.sin(theta);
double M11 = n.x * n.x * (1 - cosTheta) + cosTheta;
double M12 = n.x * n.y * (1 - cosTheta) + (n.z * sinTheta);
double M13 = n.x * n.z * (1 - cosTheta) - (n.y * sinTheta);
double M21 = n.x * n.y * (1 - cosTheta) - (n.z * sinTheta);
double M22 = n.y * n.y * (1 - cosTheta) + cosTheta;
double M23 = n.y * n.z * (1 - cosTheta) + (n.x * sinTheta);
double M31 = n.x * n.z * (1 - cosTheta) + (n.y * sinTheta);
double M32 = n.y * n.z * (1 - cosTheta) - (n.x * sinTheta);
double M33 = n.z * n.z * (1 - cosTheta) + cosTheta;
return new Vector3D(v.x * M11 + v.y * M21 + v.z * M31,
v.x * M12 + v.y * M22 + v.z * M32,
v.x * M13 + v.y * M23 + v.z * M33);
}
Could anyone tell me what is wrong with my matrix please? Rotation around the Z-Axis works perfectly however X and Y axis rotations result in distortions.
Your matrix is set up improperly. Here is how you rotate properly
You get
new vector = (Rx^-1)(Ry^-1)RzRyRx(original vector)
Here's a link that spells it out well. You don't have to extend your vectors and matrices to 4 dimensions - that's only for the purpose of translation if you're rotating about an arbitrary line in space, not a vector stemming from the origin.
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