完成与2019-03-31
三维绕轴旋转矩阵
听不是太懂了。
RotX = [cos(a),sin(a),0
-sin(a),cos(a),0
0, 0, 1]
RotY = [cos(a),0,-sin(a)
0,1,0
sin(a), 0, cos(a)]
RotZ = [1,0,0
0,cos(a),sin(a)
0,-sin(a),cos(a)]
