Graphics Reference
In-Depth Information
B.4 R 1
γ,x R 1
β,z R 1
α,x
1
0
0
c β
s β
0
1
0
0
R 1
γ,x R 1
β,z R 1
α,x =
0
c γ
s γ
s β c β 0
001
0
c α
s α
0
s γ
c γ
0
s α
c α
c β
s β c α
s β s α
=
c γ s β
( s γ s α + c γ c β c α ) s γ c α + c γ c β s α )
s γ s β
( c γ s α s γ c β c α )
(c γ c α s γ c β s α )
001
0
R 1
90 ° ,x R 1
90 ° ,z R 1
90 ° ,x =
10
100
001
0
00001111
00110011
01010101
10
100
01010101
00
.
=
1
00001111
1
100
1
This rotation sequence is illustrated in Fig. B.3 (a)-(d), where the axis of rotation
T
is
[
202
]
and the angle of rotation 180°.
Four views of the frame before and during the three rotations R 1
90 ° ,x R 1
90 ° ,z R 1
Fig. B.3
90 ° ,x
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