Graphics Reference
In-Depth Information
Y
P
(1, 1, 1)
(
−
1, 1, 1)
roll
= 90
X
Z
pitch
= 180
P
′
(
−
1,
−
1,
−
1)
Fig. 7.28.
The point P is subject to a compound roll of 90
◦
and a pitch of 180
◦
. This
diagram shows the transform in two stages.
where
2(
y
2
+
z
2
)
M
11
=1
−
M
12
=2(
xy
−
sz
)
M
13
=2(
xz
+
sy
)
M
21
=2(
xy
+
sz
)
2(
x
2
+
z
2
)
M
22
=1
−
M
23
=2(
yz
−
sx
)
M
31
=2(
xz
−
sy
)
M
32
=2(
yz
+
sx
)
M
33
=1
2(
x
2
+
y
2
)
−
(7.102)
Substituting the following values of
s
,
x
,
y
,
z
:
s
=0
x
= cos(45
◦
)
sin(45
◦
)
y
=
−
z
=0
