【数学】旋转矩阵

参考链接
OpenGL

from OpenGL.GL import *
from OpenGL.GLUT import *
from math import *
import numpy as np
def draw_axes():glClear(GL_COLOR_BUFFER_BIT)# 绘制坐标轴glColor3f(1.0, 1.0, 1.0)  # 设置坐标轴颜色为白色glBegin(GL_LINES)glVertex2f(-1.0, 0.0)  # x 轴glVertex2f(1.0, 0.0)glVertex2f(0.0, -1.0)  # y 轴glVertex2f(0.0, 1.0)# 绘制刻度线glColor3f(0.5, 0.5, 0.5)  # 设置刻度线颜色为灰色for i in range(-10, 11):  # x 轴刻度线glVertex2f(i * 0.1, -0.02)glVertex2f(i * 0.1, 0.02)for i in range(-10, 11):  # y 轴刻度线glVertex2f(-0.02, i * 0.1)glVertex2f(0.02, i * 0.1)a1 = np.array([1, 1])glColor3f(1.0, 1.0, 0.0)glVertex2f(0.0, 0.0)glVertex2f(a1[0], a1[1])glColor3f(1.0, 0.0, 0.0)theta = 30*pi/180rotation = np.array([[cos(theta),-sin(theta)],[sin(theta), cos(theta)]])a1 = rotation.dot(a1.T)glVertex2f(0.0, 0.0)glVertex2f(a1[0], a1[1])glEnd()# 添加 X 轴标签x_label = "X"  # X 轴标签内容glColor3f(1.0, 0.0, 0.0)draw_text(0.9, -0.1, x_label, GLUT_BITMAP_9_BY_15)# 添加 Y 轴标签y_label = "Y"  # Y 轴标签内容glColor3f(0.0, 0.0, 1.0)draw_text(-0.1, 0.9, y_label, GLUT_BITMAP_9_BY_15)glColor3f(1.0, 1.0, 1.0)draw_text(a1[0]-0.2, a1[1]-0.5, "2", GLUT_BITMAP_9_BY_15)glColor3f(1.0, 1.0, 1.0)draw_text(a1[0], a1[1]-1, "1", GLUT_BITMAP_9_BY_15)glFlush()def draw_text(x, y, text, font):glRasterPos2f(x, y)for char in text:glutBitmapCharacter(font, ord(char))
def main():glutInit()glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB)glutInitWindowSize(400, 400)glutCreateWindow(b"OpenGL Axes with Tick Marks")glClearColor(0.0, 0.0, 0.0, 0.0)glMatrixMode(GL_PROJECTION)glLoadIdentity()glOrtho(-1.0, 1.0, -1.0, 1.0,-1,1)glutDisplayFunc(draw_axes)glutMainLoop()if __name__ == "__main__":main()