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http://en.wikipedia.org/wiki/Rotation_matrix#In_three_dimensions
2013-12-13 19:38:39 補充:
Note the reference: In three dimensionsBasic rotationsA basic rotation (also called elemental rotation) is a rotation about one of the axes of a Coordinate system. The following three basic rotation matrices rotate vectors by an angle θ about the x, y, or z axis, in three dimensions:
圖片參考:
http://upload.wikimedia.org/math/2/8/5/2851c9dc2031127e6dacfb84b96446d8.png
圖片參考:
http://imgcld.yimg.com/8/n/HA00430218/o/20131213193347.jpg