SHIZU

摘要： 不管四元数和3D的旋转，我先要弄清楚复数和2D旋转：cos(b) * r = x => cos(b) = x / r (1)sin(b) * r = y => sin(b) = y / r (2)cos(a + b) * r = x' => cos(a)cos(b) - sin(a)sin(b) = x' (3)sin(a + b) * r = y' => sin(a)cos(b) + cos(a)sin(b) = y' (4)把(1),(2)代入(3),(4)中：x' = cos(a)x - sin(a)yy' = si 阅读全文