旋转矩阵

https://www.bilibili.com/video/BV1FA411n7CT?from=search&seid=12469706897346218343&spm_id_from=333.337.0.0

旋转矩阵

https://www.bilibili.com/video/BV1pU4y1V7KC?from=search&seid=5457832278659011381&spm_id_from=333.337.0.0

绕谁转谁是1