这几天也在整这个
绕任意轴n旋转角度θ的变换矩阵
cosTheta = cos(θ);
sinTheta = sin(θ);
nx,ny,nz为 轴n的向量标准化后三个分量
Matri4D matrix(1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1); //初始化
matrix[0][0] = nx * nx * ( 1 - cosTheta ) + cosTheta;
matrix[0][1] = nx * ny * ( 1 - cosTheta ) + nz * sinTheta;
matrix[0][2] = nx * nz * ( 1 - cosTheta ) - ny * sinTheta;
matrix[1][0] = nx * ny * ( 1 - cosTheta ) - nz * sinTheta;
matrix[1][1] = ny * ny * ( 1 - cosTheta ) + cosTheta;
matrix[1][2] = ny * nz * ( 1 - cosTheta ) + nx * sinTheta;
matrix[2][0] = nx * nz * ( 1 - cosTheta ) + ny * sinTheta;
matrix[2][1] = ny * nz * ( 1 - cosTheta ) - nx * sinTheta;
matrix[2][2] = nz * nz * ( 1 - cosTheta ) + cosTheta;
