实体在三维坐标系下的矩阵变换

      A translation can be described as a rigid motion: the other motions are rotations, reflections, and glide reflections.

1. Translation

1. Figure 1 shows a cube object place in the WCS(World coordinate system) without Transform Matrix.

                                                                                           Figure 1

     A translation is an object that moves every point of a figure or a space by the same distance in a given direction.

                                                                                       Figure 2

    The Figure 2 shows a Cube object that translation from WCS(world coordinate system) point(0,0,0) move to point(150,100,50).

2. Rotation

2.1 Axis of rotation

    The axis of rotation is a line of its fixed points.

                                            The standard matrix form of axis of rotation.                       

                                                                              Figure 3

   Figure 3   a cube object rotation from Vector(0,1,0) to Vector(0,1,1), rotation axis is X.

                                                                      Figure 4

   Figure 4 shows a cube object rotation from Vector(0,0,1) to Vector(1,0,1), rotation axis is Y.

                                                                          Figure 5

   Figure 5 shows a cube object rotation from Vector(1,0,0) to Vector(1,1,0), rotation axis is Z.

2.2 The plane of rotation     

                                                                     Figure 6

   Figure 6  presents the standard matrix of the plane of rotation. In geometry, a plane of rotation is an abstract object used to describe or visualize rotations in space. In three dimensions it is an alternative to the axis of rotation, but unlike the axis of  rotation, it can be used in the other dimensions, such as two, four or more dimensions.

   In three-dimensional space there are an infinite number of planes of rotation, only one of which is involved in any given rotation. That is, for a general rotation there is precisely one plane which is associated with it or which the rotation takes place in. The only exception is the trivial rotation, corresponding the identity matrix, in which no rotation takes palce.

   In any rotation in three dimensions  there is always a fixed axis, the axis of rotation. The rotation can be described by giving this axis, with the angle through which the rotation turns about it; this is the axis angle representation of a rotation. The plane of rotation is the plane orthogonal to this axis, so the axis is a surface normal of the plane. The rotation then rotates this plane through the same angle as its rotates around the axis, that is everything in the plane rotates by the same angle about the origin.

  One example is shown in the diagram 7, where the rotation takes place about the z-axis,  The plane of rotation is the xy-plane, so everything in that plane it kept in the plane by the rotation. This could be described by a matrix like the following, with the  rotation being through an angle@.

                                                                                           Figure 8

      Another example is the earth's rotation. The axis of rotation is the line joining the North Pole and South Pole and the plane of rotation is the plane through the equator between the Northern and Southern Hemispheres.