Graphics Reference
In-Depth Information
A.11 R
γ,z
R
β,x
R
α,z
⎡
⎤
⎡
⎤
⎡
⎤
c
γ
−
s
γ
0
10
0
c
α
−
s
α
0
⎣
⎦
⎣
⎦
⎣
⎦
R
γ,z
R
β,x
R
α,z
=
s
γ
c
γ
0
0
c
β
−
s
β
s
α
c
α
0
0
0
1
0
s
β
c
β
0
0
1
⎡
⎤
(c
γ
c
α
−
s
γ
c
β
s
α
)(
−
c
γ
s
α
−
s
γ
c
β
c
α
)
s
γ
s
β
⎣
⎦
=
(s
γ
c
α
+
c
γ
c
β
s
α
)(
−
s
γ
s
α
+
c
γ
c
β
c
α
)
−
c
γ
s
β
s
β
s
α
s
β
c
α
c
β
⎡
⎤
001
0
⎣
⎦
R
90
°
,z
R
90
°
,x
R
90
°
,z
=
10
100
−
⎡
⎤
⎡
⎤
001
0
00001111
00110011
01010101
⎣
⎦
⎣
⎦
10
100
−
⎡
⎤
01010101
00
⎣
⎦
.
=
1
00001111
−
1
−
100
−
1
−
This rotation sequence is illustrated in Fig.
A.10
(a)-(d), where the axis of rota-
tion is
T
[
202
]
and the angle of rotation 180°.
Fig. A.10
Four views of the unit cube before and during the three rotations
R
90
°
,z
R
90
°
,x
R
90
°
,z