旋转矩阵

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class TestGame : MonoBehaviour
{

    public Vector2 p1;
    public Vector2 p2;

    public GameObject go;


    private void OnGUI()
    {
        if (GUILayout.Button("计算"))
        {

            Vector3 right = go.transform.right;
            Vector3 up = go.transform.up;
            Vector3 forward = go.transform.forward;

            //把go的轴旋转到 世界方向
            Matrix4x4 rotM = new Matrix4x4();
            rotM.m00 = right.x; rotM.m01 = up.x; rotM.m02 = forward.x; rotM.m03 = 0;
            rotM.m10 = right.y; rotM.m11 = up.y; rotM.m12 = forward.y; rotM.m13 = 0;
            rotM.m20 = right.z; rotM.m21 = up.z; rotM.m22 = forward.z; rotM.m23 = 0;
            rotM.m30 = 0; rotM.m31 = 0; rotM.m32 = 0; rotM.m33 = 1;

            Matrix4x4 M = rotM.transpose;

            Vector4 right4 = new Vector4(right.x, right.y, right.z, 0);
            Vector4 rightM = M * right4;
            Debug.LogError(rightM);
            //Debug.LogError(rightM.x + "   " + rightM.y + "   " + rightM.z);
            Vector4 up4 = new Vector4(up.x, up.y, up.z,0);
            Vector4 upM = M * up4;
            Debug.LogError(upM);

        }
    }

}

　　

using System.Collections;using System.Collections.Generic;using UnityEngine;
public class TestGame : MonoBehaviour{
    public Vector2 p1;    public Vector2 p2;
    public GameObject go;

    private void OnGUI()    {        if (GUILayout.Button("计算"))        {
            Vector3 right = go.transform.right;            Vector3 up = go.transform.up;            Vector3 forward = go.transform.forward;
            //把go的轴旋转到 世界方向            Matrix4x4 rotM = new Matrix4x4();            rotM.m00 = right.x; rotM.m01 = up.x; rotM.m02 = forward.x; rotM.m03 = 0;            rotM.m10 = right.y; rotM.m11 = up.y; rotM.m12 = forward.y; rotM.m13 = 0;            rotM.m20 = right.z; rotM.m21 = up.z; rotM.m22 = forward.z; rotM.m23 = 0;            rotM.m30 = 0; rotM.m31 = 0; rotM.m32 = 0; rotM.m33 = 1;
            Matrix4x4 M = rotM.transpose;
            Vector4 right4 = new Vector4(right.x, right.y, right.z, 0);            Vector4 rightM = M * right4;            Debug.LogError(rightM);            //Debug.LogError(rightM.x + "   " + rightM.y + "   " + rightM.z);            Vector4 up4 = new Vector4(up.x, up.y, up.z,0);            Vector4 upM = M * up4;            Debug.LogError(upM);
        }    }
}